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google-deepmind / mujoco

Multi-Joint dynamics with Contact. A general purpose physics simulator.
https://mujoco.org
Apache License 2.0
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How to get Franka Panda Robot Arm seize objects tightly #1592

Open songsq21 opened 3 months ago

songsq21 commented 3 months ago

Hi,

I'm a student and I'm trying to use MuJoCo for a project on robot manipulation. I'm looking for some help with the model of menagerie.

I tried to control the Panda hand to seize a cube or a rectangular box, resulting in the fingers slipping from the object after I tried to move other joints to lift it up. I used data.ctrl to control the actuator of the Franka Panda hand fingers using python, only to find that the fingers can be easily separated by the box, which can be seen in the video.

I am looking for some hard-coding policy codebases for reference, or is there any parameters I can adjust to make the tendon between fingers tighter?

https://github.com/google-deepmind/mujoco/assets/129511833/6a916abe-3821-4a7e-9e63-163bb9a462c3

Balint-H commented 3 months ago

You can experiment with the xml, editing the hand actuator's force limits or gain. Then again, this behaviour may be accurate, and a control policy should take into account it should lift the object before moving it (so it is not in contact with the ground)