Grasping and base movement of robots

StanfordVL / OmniGibson

OmniGibson: a platform for accelerating Embodied AI research built upon NVIDIA's Omniverse engine. Join our Discord for support: https://discord.gg/bccR5vGFEx

https://behavior.stanford.edu/omnigibson/

MIT License

419 stars 48 forks source link

Grasping and base movement of robots #332

Closed chenjiayi-zxx closed 1 month ago

chenjiayi-zxx commented 8 months ago

Hello, I've encountered some issues while using the Fetch robot. I've been using methods like turn_left to move my robot, but when the robot's manipulator arm grasps objects, the objects often slip out of the arm's control. This problem prevents the robot from moving objects stably. I'm wondering if there are any solutions or best practices to address this issue. Thank you very much for your assistance.

cgokmen commented 8 months ago

Hi, can you provide a script to reproduce the issue? Thanks!

ChengshuLi commented 1 month ago

Closing the issue for now. Feel free to re-open if you have further questions.

In general, if the grasp is not firm enough during navigation, maybe you can consider using "assisted" or "sticky" grasping_mode (see manipulation_robot.py for more details).