Physics engine selection
Posted: 01 Apr 2022, 11:30
Hello,
I would like to realize a palletizing task of goods with high accuracy, similar to the demo “ur5WithRgGrasping”. Uniquely, adjacent goods need to be aligned rather than cross-placed as in “ur5WithRgGrasping”. The stacking of goods in the vertical direction poses a challenge to the physics engine selection. There are two reasons:
1. Comparatively speaking, Bullet2.78 is better to ensure the stability of the end of the robot arm, other physical engines will lead to end jitter. Since I installed the camera at the end, there can be no shake at the end. So, I had to use Bullet 2.78. By the way, I used a suction pad as the end-effector.
2. As the number of stacked goods increases, in Bullet2.78, when the stack reaches the sixth piece, the vertical stack of goods begins to tilt and eventually collapse. It seems to be stacked very neatly and accurately, so the collapse of the stack is not caused by the robot arm operation but by the physics engine. Further, in Bullet2.83, the stack does not collapse, but I can not choose Bullet2.83 for the first reason.
So, how do I keep the end of the arm stable and the stack from collapsing at the same time? Any suggestions would be appreciated. Thanks in advance.
I would like to realize a palletizing task of goods with high accuracy, similar to the demo “ur5WithRgGrasping”. Uniquely, adjacent goods need to be aligned rather than cross-placed as in “ur5WithRgGrasping”. The stacking of goods in the vertical direction poses a challenge to the physics engine selection. There are two reasons:
1. Comparatively speaking, Bullet2.78 is better to ensure the stability of the end of the robot arm, other physical engines will lead to end jitter. Since I installed the camera at the end, there can be no shake at the end. So, I had to use Bullet 2.78. By the way, I used a suction pad as the end-effector.
2. As the number of stacked goods increases, in Bullet2.78, when the stack reaches the sixth piece, the vertical stack of goods begins to tilt and eventually collapse. It seems to be stacked very neatly and accurately, so the collapse of the stack is not caused by the robot arm operation but by the physics engine. Further, in Bullet2.83, the stack does not collapse, but I can not choose Bullet2.83 for the first reason.
So, how do I keep the end of the arm stable and the stack from collapsing at the same time? Any suggestions would be appreciated. Thanks in advance.