I followed the isaac sim tutorial pick and place to setup my own robot, and i find that although the robot can grasp the object, the gripper just go inside the object, how could i modify this to ask the gripper finger to stop on the object surface?
The grasp picture:
The collison:
jobra
January 31, 2023, 2:37pm
3
Hi,
It might help to increase the sim.physx.contact_offset parameter.
Also, you might find some help here:
Factory
=======
Here we provide extended documentation on the Factory assets, environments, controllers, and simulation methods. This documentation will be regularly updated.
Before starting to use Factory, we would **highly** recommend familiarizing yourself with Isaac Gym, including the simpler RL examples.
Overview
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There are 5 Factory example tasks: **FactoryTaskNutBoltPick**, **FactoryTaskNutBoltPlace**, **FactoryTaskNutBoltScrew**, **FactoryTaskNutBoltInsertion**, and **FactoryTaskNutBoltGears**. Like the other tasks, they can be executed with `python train.py task=<task_name>`. The first time you run these examples, it may take some time for Gym to generate SDFs for the assets. However, these SDFs will then be cached.
**FactoryTaskNutBoltPick**, **FactoryTaskNutBoltPlace**, and **FactoryTaskNutBoltScrew** train policies for the Pick, Place, and Screw tasks. They are simplified versions of the corresponding tasks in the Factory paper (e.g., smaller randomization ranges, simpler reward formulations, etc.) The Pick and Place subpolicies may take ~1 hour to achieve high success rates on a modern GPU, and the Screw subpolicy, which does not include initial state randomization, should achieve high success rates almost immediately.
**FactoryTaskNutBoltInsertion** and **FactoryTaskNutBoltGears** do not train RL policies by default, as successfully training these policies is an open area of research. Their associated scripts ([factory_task_insertion.py](../isaacgymenvs/tasks/factory/factory_task_insertion.py) and [factory_task_gears.py](../isaacgymenvs/tasks/factory/factory_task_gears.py)) provide templates for users to write their own RL code. For an example of a filled-out template, see the script for **FactoryTaskNutBoltPick** ([factory_task_nut_bolt_pick.py](../isaacgymenvs/tasks/factory/factory_task_nut_bolt_pick.py)).
Assets
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CAD models for our assets are as follows:
show original
