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haosulab / ManiSkill

SAPIEN Manipulation Skill Framework, a GPU parallelized robotics simulator and benchmark
https://maniskill.ai/
Apache License 2.0
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Question about PDEEPoseController's PD Gains #684

Closed hesic73 closed 2 weeks ago

hesic73 commented 2 weeks ago

In ManiSkill's PDEEPoseController, the Kp and Kd gains appear to be defined with respect to the joints, rather than for translation and rotation separately, as in some other EE pose controllers. Is there a specific conversion or relationship between these joint-level gains and the EE translation/rotation gains?

https://github.com/haosulab/ManiSkill/blob/61076748d9e2c7254b1863220615c120f5919d7f/mani_skill/agents/controllers/pd_ee_pose.py#L138-L141

StoneT2000 commented 2 weeks ago

Currently we don't have other kinds of EE controllers with PD specified on translation/rotation. This would involve modifying the inverse kinematics solver essentially which can get complicated.

hesic73 commented 2 weeks ago

Thank you! I might give this a try, though I'm unsure about the difficulty yet. But since we can calculate the Jacobian, this should be possible?

StoneT2000 commented 2 weeks ago

Sounds possible! Will close the issue for now.