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kevinzakka / mink

Python inverse kinematics based on MuJoCo
https://kevinzakka.github.io/mink/
Apache License 2.0
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[New Example]: xArm7 Lift Task, Gripper doesn't work #7

Closed jonzamora closed 3 months ago

jonzamora commented 3 months ago

Hi @kevinzakka

I'm working on an example where an xArm7 can grasp and lift a cube with the help of mink, however, I ran into an issue with the gripper.

https://github.com/user-attachments/assets/a3200082-b9ba-478d-b977-4c763f023c6f

Main Question: Could you help me debug the xArm7 gripper so it can grasp the cube correctly?

Things i've tried: I tried all the suggestions mentioned in https://github.com/google-deepmind/mujoco/issues/786 and https://github.com/google-deepmind/mujoco_menagerie/issues/54, though my attempts were unsuccessful so far.

Link to my code w/ Minimal Example: My code can be found here https://github.com/jonzamora/mink.

To reproduce the video above, simply run mjpython examples/arm_xarm7.py.

kevinzakka commented 3 months ago

Hi @jonzamora,

It's great to see you've already started using mink for your own project! This issue is more of a MuJoCo/Menagerie modeling problem than a mink one. That being said, I think the most likely culprit is that the geoms of the fingertips of the xarm7 need to be improved. If you raise an issue in Menagerie, I can properly take a look and respond. Sound good?

jonzamora commented 3 months ago

Sounds great @kevinzakka ! I'll raise an issue in the Menagerie and close the issue here : )