search

enyen / NewStableTactileGrasp

Implementation of **Learning of Efficient Stable Robot Grasping Approach Using Transformer-based Control Policy**
https://stable-tactile-grasp.github.io/
2 stars 0 forks source link

Further development based on this project #2

Closed LZC0113 closed 4 months ago

LZC0113 commented 5 months ago

Dear Enyen,

My name is Zechen Li and I am now working in the manipulation lab of ASTAR. I am now making further research based on your Unstable Grasp Environment. I'm having some difficulties and need your help and guidance

  1. I want to update the friction coefficient of the exterior of the box, thus changing the friction between the arm and the box. Is there any function to update this parameter? I found there is ‘update_contact_parameter’ or ‘update_tactile_parameters’ function and don’t know whether it is correct and the right way to use it.
  2. I would like to change the interior structure of the box, such as adding obstacles or traps. I wonder where I can add these elements to the env?

Thank you very much and I appreciate your time in advance!

enyen commented 5 months ago

Hi Zechen,

  1. you could try to change the mu for friction ceofficient https://github.com/enyen/TactileSimulation/blob/8014df67a736d30bae45675d60c5c54afbbaee23/envs/assets/unstable_grasp/unstable_grasp.xml#L91 in xml, or something similar to https://github.com/enyen/TactileSimulation/blob/8014df67a736d30bae45675d60c5c54afbbaee23/envs/unstable_grasp_env.py#L96 during runtime.

  2. you could add more fixed/jointed links in the box section of the xml https://github.com/enyen/TactileSimulation/blob/8014df67a736d30bae45675d60c5c54afbbaee23/envs/assets/unstable_grasp/unstable_grasp.xml#L64

LZC0113 commented 5 months ago

Hi Enyen,

Thank you so much for the answer! I will try these methods later on and check the result.