VREP 3.6 Support

[sholtodouglas]

One Issue I identfiied is that it gets stuck trying to open the gripper, which I fixed by setting the gripper joint position threshold to 0.03. It now mostly works, but when it graps the air objects dissapear as though they were picked.

while gripper_joint_position < 0.03: # Block until gripper is fully open
                sim_ret, gripper_joint_position = vrep.simxGetJointPosition(self.sim_client, RG2_gripper_handle, vrep.simx_opmode_blocking)

Anyone have any thoughts on why this might be the case?

[DavidUrz]

The goal in simulation is only to pick up the object, as soon as you grasp something the simulation starts over again.

Which version of software are you using ? python, VREP, Pytorch etc...

[sholtodouglas]

Python 3.7.3, Pytorch 1.3 (with associated OOM errors) VREP 3.6. I'm sorry I was unclear - I'm aware that when you grasp something it is meant to dissapear and the simulation is meant to restart. However, when using VREP 3.6 it seems like certain parameters are read differently. E.g the gripper angle. Most critically, even when no object is grasped, a random object still dissapears after a grasp attempt.

[DavidUrz]

Thank you for your answer, I understand your problem, I don´t if its similar with my situation using VREP 3.6, the simulation does not start, the gripper just tremble,

[sholtodouglas]

I would try debugging the code to see where it stops - I bet you'll find that it is in the gripper/open close function- and that it is just trembling because it is not meeting a threshold (I think best to change the threshold)

On Thu, Oct 24, 2019 at 1:38 PM DavidUrz notifications@github.com wrote:

Thank you for your answer, I understand your problem, I don´t if its similar with my situation using VREP 3.6, the simulation does not start, the gripper just tremble,

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/andyzeng/visual-pushing-grasping/issues/43?email_source=notifications&email_token=ACOXP57K7FBVWZKT2URQW43QQEDCVA5CNFSM4I5V4K32YY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGOECDPPLA#issuecomment-545716140, or unsubscribe https://github.com/notifications/unsubscribe-auth/ACOXP54NALHK37LV5ZYLLFLQQEDCVANCNFSM4I5V4K3Q .

[ChenyangRan]

我会尝试调试代码以查看其停止位置-我敢打赌，您会发现它位于抓取器/打开关闭功能中，并且由于不满足阈值而发抖（我认为最好更改阈值） ） … On Thu, Oct 24, 2019 at 1:38 PM DavidUrz @.***> wrote: Thank you for your answer, I understand your problem, I don´t if its similar with my situation using VREP 3.6, the simulation does not start, the gripper just tremble, — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#43?email_source=notifications&email_token=ACOXP57K7FBVWZKT2URQW43QQEDCVA5CNFSM4I5V4K32YY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGOECDPPLA#issuecomment-545716140>, or unsubscribe https://github.com/notifications/unsubscribe-auth/ACOXP54NALHK37LV5ZYLLFLQQEDCVANCNFSM4I5V4K3Q .

Hi, I meet the same question as yours. I'm using V-REP 3.6.2 because 3.6.0 cannot work on my computer. Have you solved it?

[gbyuHub]

The same problem.