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facebookresearch / habitat-lab

A modular high-level library to train embodied AI agents across a variety of tasks and environments.
https://aihabitat.org/
MIT License
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Grasping Handle in Open Drawer / Open Fridge #872

Open arjung128 opened 2 years ago

arjung128 commented 2 years ago

Habitat-Lab and Habitat-Sim versions

Habitat-Lab: master

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Did you check out the tutorials? https://aihabitat.org/tutorial/2020/

Perhaps your question is answered there. If not, carry on!

❓ Questions and Help

Similar to the Pick task, is handle-grasping abstracted away in the Open Drawer / Open Fridge tasks? I was not able to find this information in the main paper. Thanks!

aclegg3 commented 2 years ago

Hey, @arjung128.

@ASzot may have more accurate/detailed references for you.

I believe we are creating a dynamic constraint between the robot's end effector and a marker on the articulated object link (e.g. the fridge or drawer handle) like we do for grasping objects. However, the articulated object base is fixed to the ground, so only the joints will move in response to the robot's arm motion.