Open mikelasa opened 1 week ago
Hello @mikelasa
I think I'm missing something about what you are trying to do here. I understand that you are trying to control each robot with a space mouse, but i don't know what you mean by "change the control mode to the object". Do you mean when you swap between controlling whichever robot with the space mouse? I don't know what to observe in your video.
Sorry man! Can you please give me some more detail?
Hello,
I'm working on a object level teleoperation and I have an strange issue with the box behavior in the simulation. I assume it has something to do with how I teleoperate the object itself but so far I haven't come up with a solution, so I want to share the video and see if anybody can help me to understand whats happening.
I can switch the control of the spacemouse among the right/left robots and the object itself adding a small deltaX to the position of the end effectors and the central frame of the object. The simulation (video atttached) works in this order:
The object I created using RigidObjectCfg and adding some properties to have control on the friction and mass of the box:
The issue I'm facing is that when I have the object grasped with the two end effectors and I control one of the two robots, I can lift the box without any problem and the behavior is smooth as it can be seen in the video. The issue comes when I change the control mode to the object. There are two things that happen here:
I did the following tests w.r.t frictions, grip forces and teleoperation sensitivities but I didn't see anything:
To control the object first I take the input signal from the spacemouse:
And I add to the actual pose of the object (bin) in the simulation the deltaX:
https://github.com/user-attachments/assets/27134c23-72b2-400c-b102-395b0e492c77
How am I supposed to move the object in a simulation? Maybe my method is not the optimal way? I would appreciate any insight about this please, I'm kind of desperate with this issue.