Attach object in SAPIEN

[baifanxxx]

Hi author,

Thank you for your perfect work. I want to ask a question about SAPIEN. Can I set to attach objects on robot end effector? like this link: http://docs.ros.org/en/indigo/api/pr2_moveit_tutorials/html/planning/src/doc/move_group_interface_tutorial.html. in this part Adding/Removing Objects and Attaching/Detaching Objects¶. I think it is very useful for us to set attach objects in gasping.

Thank you, Best regards, BAI Fan

[fbxiang]

It is possible through scene.create_drive. Essentially you can pass the relative poses of the attached actors and set the drive to have a large stiffness so they appear to be "attached". Removing the drive will detach them. We will try to simplify and document the API in the future releases. For right now, since our major focus is physical interactions, non-physical actions such as attaching is not at high priority.