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sapien_vacuum_suction_example

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ebebe56da187a40848b6d0200689cbc125351277

[update] small modificaiton on convention

yyzqin committed a year ago
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bb15370a726a3ef91ccd7ef42897bdb02138470d

[update] add lock motion example

yyzqin committed a year ago
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4e5baa69a25b28a1cc11e34b1bbf95dc559df974

[update] update end link index

yyzqin committed a year ago
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881e6269b9c15fedf9f0892b7e85f1fc486dbbb5

[update] update README

yyzqin committed a year ago
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2c91d838afe91b5ae43c8d2893483ac4d4869b70

[init]

yyzqin committed a year ago

README

The README file for this repository.

Suction Gripper Simulation in SAPIEN

This repository contains an implementation of a suction gripper simulation in SAPIEN, available in a single file. The simulation utilizes the robot model of XArm6 + XArm vacuum gripper to achieve pick and place tasks. The only dependency required is pip3 install sapien.

A gif showing the suction gripper in action

The main code for the suction gripper is shown below:

# Do something before suction

# Suction
suction_drive = scene.create_drive(ee_link, Pose(), grasped_box, Pose())
suction_drive.set_x_properties(1e4, 1e2, 1e2)
suction_drive.set_y_properties(1e4, 1e2, 1e2)
suction_drive.set_z_properties(1e4, 1e2, 1e2)

# Do something after suction

# Release suction
suction_drive.set_x_properties(0, 0, 0)
suction_drive.set_y_properties(0, 0, 0)
suction_drive.set_z_properties(0, 0, 0)