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Published 20 hours ago • verified publisher icon Xingyu-Lin

cloth stick to ground when gripped

Open k-ish0212 opened this issue 3 years ago • 4 comments

hi, I'm currently working on softgym project and happened to the gif situation: cloth sticks to ground when gripped. Do you know why it happen? I select a cloth's particle as picking position. Thank you. stick stick2

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k-ish0212 avatar Dec 02 '21 22:12 k-ish0212

can you provide your code for reproducing this?

yufeiwang63 avatar Dec 03 '21 00:12 yufeiwang63

reason of stick This is the reason of stickness. There were two gripper balls and we changed the ball size very small. We'll share the code later, the problem was due to the self.action_tool.reset() function. When I call this function, a new gripper spawned and it was on the cloth. I managed to change the first spawn point of the gripper(first gripper which made from self.env.reset() func was not used for me) away from the cloth by some changes of action_space.py.

k-ish0212 avatar Dec 09 '21 17:12 k-ish0212

Sorry for late, here is the code. The branch is cc10dbf6666f4029c6046ca137304ceed34ff664 on https://github.com/matsuolab-research/vcd.git

k-ish0212 avatar Jan 11 '22 16:01 k-ish0212

It looks like it's sticking to one of the pickers (the white spherical ball), can you double check that the corresponding picker isn't set to "pin" any nearby particles?

DanielTakeshi avatar Jan 14 '22 18:01 DanielTakeshi