I need to do ’peg-in-hole task' in the Isaac Gym!

[DDPG7]

Hi,
I want to do ’peg-in-hole task’ in Isaac Gym.
But, I don’t know how to modify ’ franka.py’ example to ’peg-in-hole task’.(Is it possible in the first place?)

Someone, please create an example that can execute peg-in-hole task with Franka arms.
Because I need to show it to my boss！（･_･;）

I want to use Franka arms to insert a square block into a square hole.No camera needed.
・reference
https://dtransposed.github.io/blog/Robotic-Assembly.html

Franka hand is a state in which a square block is always clamped in a fixed position and posture.
But It’s okay if the a square block moves in the hand when it collides.

Thank you so much for your support!

OS: Ubuntu20.04
GPU: RTX A6000
Driver Version: 460.67
CUDA Version: 11.2

[vmakoviychuk]

Hi @DDPG7,

Unfortunately, the link you shared showed 404.

Did you have issues with the environment creation or training itself? If with environment creation I can recommend you to wait for a new Isaac Gym release that will happen by the end of this week. It’ll have a built-in convex decomposition tool, as well as a number of other improvements, that should simplify loading of not convex meshes required for this task.

[mayeRobot]

Hello, I have the same question about peg-in-hole task with isaac-gym. Have you solved your question? Convex decomposition tool do a bad work for a low precise.My problem is how to make improvement of accuracy so that I can use it to finish a sim2real peg-in-hole task.

[DDPG7]

Hi there.

@mayeRobot

Convex decomposition tool do a bad work for a low precise.

I’m looking for a workaround for this problem. I am using “box” and “cylinder” in URDF file. The box(plate-shaped box on the left) may get a little in the cylinder, but if you increase the “substeps”, it may be in good condition. In the figure below, the holes were created in 5 boxes. It was difficult to fine-tune the angle.

  <link name="connector0_up">
    <visual>
      <geometry>
        <box size="0.00386 0.00420 0.00065"/>
      </geometry>
      <material name="connector_mat">
        <color rgba="1.0 0.0 0.0 0.0"/>
      </material>
      <origin xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.00386 0.00420 0.00065"/>
      </geometry>
      <origin xyz="0.0 0.0 0.0"/>
    </collision>
    <inertial>
      <mass value="1"/>
      <origin xyz="0.0 0.0 0.0"/>
    </inertial>
  </link>
  <link name="connector0_low">
    <visual>
      <geometry>
        <box size="0.00386 0.00420 0.0003"/>
      </geometry>
      <material name="connector_mat">
        <color rgba="1.0 0.0 0.0 0.0"/>
      </material>
      <origin xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.00386 0.00420 0.0003"/>
      </geometry>
      <origin xyz="0.0 0.0 0.0"/>
    </collision>
    <inertial>
      <mass value="1"/>
      <origin xyz="0.0 0.0 0.0"/>
    </inertial>
  </link>
  <link name="connector0_left">
    <visual>
      <geometry>
        <box size="0.00071 0.00380 0.0005"/>
      </geometry>
      <material name="connector_mat">
        <color rgba="1.0 0.0 0.0 0.0"/>
      </material>
      <origin xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.00071 0.00380 0.0005"/>
      </geometry>
      <origin xyz="0.0 0.0 0.0"/>
    </collision>
    <inertial>
      <mass value="1"/>
      <origin xyz="0.0 0.0 0.0"/>
    </inertial>
  </link>
  <link name="connector0_right">
    <visual>
      <geometry>
        <box size="0.00097 0.00380 0.0005"/>
      </geometry>
      <material name="connector_mat">
        <color rgba="1.0 0.0 0.0 0.0"/>
      </material>
      <origin xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.00097 0.00380 0.0005"/>
      </geometry>
      <origin xyz="0.0 0.0 0.0"/>
    </collision>
    <inertial>
      <mass value="1"/>
      <origin xyz="0.0 0.0 0.0"/>
    </inertial>
  </link>
  <link name="connector0_back">
    <visual>
      <geometry>
        <box size="0.00420 0.00165 0.00160"/>
      </geometry>
      <material name="connector_mat">
        <color rgba="1.0 0.0 0.0 0.0"/>
      </material>
      <origin xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.00420 0.00160 0.00160"/>
      </geometry>
      <origin xyz="0.0 0.0 0.0"/>
    </collision>
    <inertial>
      <mass value="1"/>
      <origin xyz="0.0 0.0 0.0"/>
    </inertial>
  </link>

[mayeRobot]

That is true. I am trouble in creating a cylinder hole. As you can see in figures below.That is too difficult.
By the way. Are you Chinese?

[mayeRobot]

[daniele12321]

have you created/is it available online your peg-in-hole environment?