search

isaac-sim / OmniIsaacGymEnvs

Reinforcement Learning Environments for Omniverse Isaac Gym
Other
836 stars 211 forks source link

Bottom drawer in Franka Cabinet cannot be opened #96

Open Pipe-Runner opened 11 months ago

Pipe-Runner commented 11 months ago

Hi, I am making an obvious mistake. Still, I have changed the observation buffer and modified the Cabinet view to be able to interact with and open the bottom drawer using Franka. The robot seems to reach and even try to grip and pull the drawer, but the drawer doesn't move even a little. I might start digging into the USD, but it would be nice if you could give me a heads-up if there is something I need to change in the USD itself for it to work.

Also, while in "play" mode in Isaac's sim in Omniverse, I try to apply force on entities like the cabinet as shown in different videos on YouTube, but I can't seem to do it using the mouse. Is there a key combination I should press to interact with objects directly instead of selecting them?

sujitvasanth commented 11 months ago

in isaac Sim in play mode select the prim you would like to move, hold down the shift key and drag with the left mouse button. You will see the green line representing the force vector. If you see the green lines but the object is not moving - zoom out and make the green line longer as it seems the force is proportionate to the line length.

Screenshot from 2023-11-04 14-19-44

Regarding draw opening - I think in earlier versions I remember seeing in the video demos there was some cheats in the coding to overcome the physics of handilng the draw opening...suppose this is probably still the case

Pipe-Runner commented 11 months ago

in isaac Sim in play mode select the prim you would like to move, hold down the shift key and drag with the left mouse button. You will see the green line representing the force vector. If you see the green lines but the object is not moving - zoom out and make the green line longer as it seems the force is proportionate to the line length.

Screenshot from 2023-11-04 14-19-44

Regarding draw opening - I think in earlier versions I remember seeing in the video demos there was some cheats in the coding to overcome the physics of handilng the draw opening...suppose this is probably still the case

Thankyou for taking out the time to reply to my questions. I'll try this out to check if the bottom drawer can indeed be interacted and opened.

Pipe-Runner commented 11 months ago

Update: It seems like in the sandbox, I am opening the drawer by applying forces using the mouse. I am not sure what's going on in the RL training.

sujitvasanth commented 11 months ago

Hi @Pipe-Runner you might find this video of some help https://www.nvidia.com/en-us/on-demand/session/gtcfall21-a31118/ look at 39mins 30s in as they demonstrate the Franka cabinet task - the top draw has zero friction so that it falls open even with a gentle pull perhaps check the joint parameters of the second draw- it's not an example I had a particular interest in so I didn't really want to delve any further...

Pipe-Runner commented 10 months ago

Hi @Pipe-Runner you might find this video of some help https://www.nvidia.com/en-us/on-demand/session/gtcfall21-a31118/ look at 39mins 30s in as they demonstrate the Franka cabinet task - the top draw has zero friction so that it falls open even with a gentle pull perhaps check the joint parameters of the second draw- it's not an example I had a particular interest in so I didn't really want to delve any further...

Thanks a lot for the follow-up. I can try to play a bit with the friction values for the bottom drawer.