Stone Tao
Stone Tao
You are correct. With end effector (EE) control eventually you are asking the robot to move the EE to somewhere impossible. In these cases essentially there is no solution as...
delta joint control will have the same issue if you try to move joints beyond their limits. However this is easier to mask since you know what each joints limits...
This would likely be highly non-trivial amount of engineering work to do that. Perhaps @fbxiang could summarize some helpful points
At the moment we do not have this. We will revisit this feature in the future most likely for CPU simulation at least. I will leave the issue open for...
Some progress has been made on this front @lauweiquan https://github.com/haosulab/SAPIEN/discussions/156, it is not fully integrated yet into maniskill, needs to be tested
Based on what we have seen when using PhysX, it is better to disable gravity on a fixed-base robot entirely instead of using the GPU sim's gravity compensation. Regarding coriolis...
thanks for raising the issue @swearos, could you provide a reproducible code snippet to do this?
sorry for the delay. You are correct you should use the convenient link, which basically is the location of the TCP for easier EE control. It seems like the xmate3...
Fixed now with some of the new URDFs. Issue here can at least help others be aware if they try sim2real as well!
inspecting the generated .mtl file manually I notice for the generated dining room it uses the wrong diffuse texture. It seems the export tool generates different texture images for each...