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sapien_vacuum_suction_example's Introduction

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)

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sapien_vacuum_suction_example's Issues

End effector orientation

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?

Bug of the suction

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?

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