Open ZJU-PLP opened 7 months ago
Thank you for your interests. The policy deployed in real robot is trained purely in simulation using the code in this repo. The trained policy is directly plugged into real hardware code.
On Sat, Jan 6, 2024 at 23:06 Linpeng Peng @.***> wrote:
@eanswer https://github.com/eanswer
Hi, Jie:
Thanks for sharing so nice work. I have run this code successfully in your given simulation scenes. However, could you mind sharing the details or scripts to implement this project in real-world robotic manipulation(showed in your demo)? image.png (view on web) https://github.com/eanswer/TactileSimulation/assets/32757213/da62f330-ecca-4979-9d72-653f22edb821
— Reply to this email directly, view it on GitHub https://github.com/eanswer/TactileSimulation/issues/8, or unsubscribe https://github.com/notifications/unsubscribe-auth/ADXWD7CZSJHLNUHMIX4CX7LYNJCPHAVCNFSM6AAAAABBQDWAM2VHI2DSMVQWIX3LMV43ASLTON2WKOZSGA3DSMBRHAYTCNQ . You are receiving this because you were mentioned.Message ID: @.***>
Thank you for your interests. The policy deployed in real robot is trained purely in simulation using the code in this repo. The trained policy is directly plugged into real hardware code. … On Sat, Jan 6, 2024 at 23:06 Linpeng Peng @.> wrote: @eanswer https://github.com/eanswer Hi, Jie: Thanks for sharing so nice work. I have run this code successfully in your given simulation scenes. However, could you mind sharing the details or scripts to implement this project in real-world robotic manipulation(showed in your demo)? image.png (view on web) https://github.com/eanswer/TactileSimulation/assets/32757213/da62f330-ecca-4979-9d72-653f22edb821 — Reply to this email directly, view it on GitHub <#8>, or unsubscribe https://github.com/notifications/unsubscribe-auth/ADXWD7CZSJHLNUHMIX4CX7LYNJCPHAVCNFSM6AAAAABBQDWAM2VHI2DSMVQWIX3LMV43ASLTON2WKOZSGA3DSMBRHAYTCNQ . You are receiving this because you were mentioned.Message ID: @.>
Thanks for your reply. Could you mind offering the scripts in your real-world robotic grasping?
Thank you for your interests. The policy deployed in real robot is trained purely in simulation using the code in this repo. The trained policy is directly plugged into real hardware code. … On Sat, Jan 6, 2024 at 23:06 Linpeng Peng @.> wrote: @eanswer https://github.com/eanswer Hi, Jie: Thanks for sharing so nice work. I have run this code successfully in your given simulation scenes. However, could you mind sharing the details or scripts to implement this project in real-world robotic manipulation(showed in your demo)? image.png (view on web) https://github.com/eanswer/TactileSimulation/assets/32757213/da62f330-ecca-4979-9d72-653f22edb821 — Reply to this email directly, view it on GitHub <#8>, or unsubscribe https://github.com/notifications/unsubscribe-auth/ADXWD7CZSJHLNUHMIX4CX7LYNJCPHAVCNFSM6AAAAABBQDWAM2VHI2DSMVQWIX3LMV43ASLTON2WKOZSGA3DSMBRHAYTCNQ . You are receiving this because you were mentioned.Message ID: @.>
@eanswer Hi, Jie: There are several questions when to reproduce your project in real world robotic manipulation. Would you mind sharing the guidelines to solve these problems?
Thanks for your interest again.
We didn't test other sensors on real robot. Theoretically, the simulator should work for DIGIT, but it requires separate parameters calibrations for the specific sensor.
We did randomization for several parameters of tactile sensor in our environment code as shown here.
The object size are 1:1 match between simulation and real robot.
Thanks for your interest again.
- We didn't test other sensors on real robot. Theoretically, the simulator should work for DIGIT, but it requires separate parameters calibrations for the specific sensor.
- We did randomization for several parameters of tactile sensor in our environment code as shown here.
- The object size are 1:1 match between simulation and real robot.
@eanswer ok, I see. Thanks for your nice reply. However, I still do not know the CAD or STL object size(cube peg and cube pedestal contained three holes) used in real-world robotic insertion just showed in below. Would you mind sharing the 3D printing scale or CAD/STL file?
@eanswer
Hi, Jie:
Thanks for sharing so nice work. I have run this code successfully in your given simulation scenes. However, could you mind sharing the details or scripts to implement this project in real-world robotic manipulation(showed in your demo)?