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facebookresearch / tacto

Simulator of vision-based tactile sensors.
MIT License
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Franka Panda support #36

Open hao-l1 opened 2 years ago

hao-l1 commented 2 years ago

Thanks you for making this wonderful simulator!

I'm just wondering if it is possible to support franka panda arm smulation? I'm using panda instead of sawyer. I would really want to use panda for simulation. Thanks!

robertocalandra commented 2 years ago

Hi @HaoLiRobo, Yes, It is possible to use the franka panda arm in tacto. What you need to do is to import the model of the franka panda in the physics engine and then attach a gripper/sensor to it A good starting point might be https://github.com/facebookresearch/tacto/blob/main/examples/demo_pybullet_grasp.py which uses a Sawyer arm.

saeidb71 commented 2 years ago

Hi @HaoLiRobo,

I also want to use panda with digit, but I've had a hard time understanding how to do this. Were you able to use panda instead of sawyer? If yes, can you provide a sample code?

aspirinium commented 1 year ago

Hi @HaoLiRobo,

I also want to use panda with digit, but I've had a hard time understanding how to do this. Were you able to use panda instead of sawyer? If yes, can you provide a sample code?

Hey guys, did you make it? I modified the URDF files of Franka to include two Digit sensors on the gripper, but I wouldn't say that this implementation was successful: the gripper doesn't behave as expected. I was wondering whether you found a solution.

hao-l1 commented 1 year ago

@saeidb71 @aspirinium We had a new paper released just last month. We are building our simulation on top of Taxim, it is kind of the same framework as TACTO. But we add some more features and implement the Franka Panda Arm simulation with tactile sensing.

https://github.com/objectfolder/objectfolder_manipulation_tasks