Stone Tao
Stone Tao
I did not know that, that sounds problematic, Ill investigate
You probably hit some joint limits. While technically the franka has infinite rotations on the wrist joint (joint just before the gripper sliders) the robot definition file does not permit...
By default there are no collisions possible apart from self collisions. Are you sure none of the joint angles exceed np.pi? The wrist joint in the video rotates a lot,...
can you check if the magnitude is greater than np.pi, e.g. `np.any(np.abs(result["position"] > np.pi))`, it's possible some values are beyond -np.pi
I dont understand the latest video? It seems like the planner collided with the object. It probably changed to the next pose because the current plan failed/completed. A failure could...
perhaps the space is too tight or the collision point cloud is not set correctly. You can try visualizing it
Are you using RRT the whole time? And could you share the pointcloud visualization? Small radius leading to more collisions is expected, you are essentially making more room for the...
Are you trying to avoid collisions the entire time in the previous clip? Or do you permit collisions in part of your script (to allow manipulation). Maybe for a sanity...
When it succeeds 2/3 of the time, is it succeeding on the same exact starting environment state (e.g. it is leaky problem), or is it working for some configs and...
Sorry we have not tuned SAC at the moment, only PPO with some proprioception data + one RGB camera. There is some example code with state based SAC, a simple...