yzqin / sapien_vacuum_suction_example Goto Github PK

Hi, I would like to ask how to force the end effector's orientation to be aligned with a certain vector, say [1,0,0]? In your repo, I see the robot facing downward to touch the top surface of the boxes, but are there any ways to touch them from other sides?

Hi,
I've found that regardless of the relative positions of the suction gripper and the cube (even when they are far apart), the suction cup can still successfully lift the cube. Could you advise on how to address this issue? Additionally, I was wondering if there are any plans to include the SRDF file for the robotic arm?