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vikashplus / robohive

A unified framework for robot learning
https://sites.google.com/view/robohive
Apache License 2.0
489 stars 82 forks source link

Shoulder_pan_joint of the fetch robot can't reach the upper limit #115

Closed zichunxx closed 10 months ago

zichunxx commented 10 months ago

Hi!

Thanks to the work of Robohive team!

Before working with the fetch_reach_v0.xml, I found that the shoulder_pan_joint can only reach 1.04 instead of its upper limit of 1.6056.

Here is the PNG to illustrate this phenomenon:

fetch

Is this caused by the Mujoco actuator of the shoulder_pan_joint?

vikashplus commented 10 months ago

Thanks @STAY-Melody for trying RoboHive. I was able to reproduce this at my end. It seems like the arms starts colliding with the back of the body. image The reason seems to be that the convex hull (used for mesh collisions) is not a good approximation of the actual geometry. The fix should involve creating a better collision surface that avoids that issue. The fix shouldn't be hard, I will update once it is available in the dev branch for you to try.

vikashplus commented 10 months ago

Fixed in e16059360032c300a7f6503b8b47ba7253070d6e

zichunxx commented 10 months ago

Thanks for the quick response and fix.