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xukechun / Efficient_goal-oriented_push-grasping_synergy

[RAL & IROS 2021] Efficient learning of goal-oriented push-grasping synergy in clutter
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How to transfer to real robot? #2

Closed gsbandy24 closed 2 years ago

gsbandy24 commented 3 years ago

Hello I am trying to implement this type of method (VPG specifically from A. Zeng et al) on a real robot, however with UR robots with updated firmware the code/models as written by A. Zeng et al cannot be used because their code was meant for a robot with older firmware.

How were you able to get VPG and adapt their methods to newly updated real robots? Additionally did you use the same calibration methods for transferring to a real robot or could you explain a bit to me how this was done?

gsbandy24 commented 3 years ago

Additonally, for your real robot you use the Robotiq gripper but in the robot.py the code does not seem to be changed for this type of gripper and has the original source code for the RG@ gripper used in Zeng et al. Does the open_gripper/close_gripper script not need to be changed?

xukechun commented 3 years ago

Hi! Thanks for your treasured comments!

Actually, we have designed a set of programs ourselves according to our firmware to realize the physical experiments. And in the real-world setting, we use a UR5 arm with a robotiq-85 gripper. And the codes for arm and gripper controlling depend on your wiring connection mode of the gripper. What kind of connection mode do you use? Do you directly connect the gripper wires on the arm? The code in robot.py is for simulation in which we use the RG2 gripper for fair comparisons between baseline methods. In the real-world setting, we use a robotiq-85 one. We think, since the grasp action in this work is defined by a middle position and an orientation of the parallel jaw of the gripper with a fixed width, the parallel gripper type is not an important issue. So we retain the original source code for the RG2 gripper used in Zeng et al.

gsbandy24 commented 3 years ago

Hi thanks for your kind response! Would you be able to share with me the set of programs that you used to realize the physical experiments?

The connection mode that i will use has not be fully decided upon. What was the connection mode that you used or found most easily adaptable?

xukechun commented 2 years ago

Hi! Thanks for your treasured comments! We directly connect the gripper wires on the arm.

littlefiveRobot commented 2 years ago

Hi thanks for your kind response! Would you be able to share with me the set of programs that you used to realize the physical experiments?

The connection mode that i will use has not be fully decided upon. What was the connection mode that you used or found most easily adaptable? Did you resolve the question about the connection between UR5 and robotiq85