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real-stanford / universal_manipulation_interface

Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots
https://umi-gripper.github.io/
MIT License
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Gripper for Franka #8

Closed Yingdong-Hu closed 3 months ago

Yingdong-Hu commented 4 months ago

Hi @cheng-chi, this work is incredible! I would like to ask if the UMI is designed to be used with the Schunk WSG-50 gripper? I want to reproduce UMI on a Franka robot, does that mean I have to buy a WSG-50 gripper and replace Franka's original gripper with the WSG-50?

cheng-chi commented 4 months ago

Hi @Yingdong-Hu, UMI is designed to be mechanically compatiable with Franka hand as well. However, we haven't found a way to conitously control Franka hand's width. The Franka hand has an extremely high execution latency, making it unsuitable for dynamic tasks such as tossing. As a result, we didn't investigate futher into Franka hand. However, this doesn't mean it's impossible to use Franka hand, it's just we haven't found a good way to do it. Please checkout the CAD models of Franka hand mount, and feel free to submit a PR once you figure out how to controll it!

ErinZhang1998 commented 4 months ago

Hi @cheng-chi,

For the CAD model you provided, does this mean we won't have the exact same view as the one collected by UMI (because there is no side mirros)? The CAD model is only for the gopro and finger mounts?

cheng-chi commented 4 months ago

@ErinZhang1998 The CAD model provided in this thread is a prototype used in earlier stages of this project and is not fully compatiable with UMI. You can modify it to be compatible with UMI, or modify the Franka mount CAD to be compatible with Franka hand.

HM102 commented 2 months ago

any update on the gripper controller @Yingdong-Hu ?