update grasping example

Genesis-Embodied-AI · Jan 5, 2025 · bc2e122 · bc2e122
1 parent 8c8df82
commit bc2e122
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/examples/tutorials/IK_motion_planning_grasp.py b/examples/tutorials/IK_motion_planning_grasp.py
@@ -1,6 +1,5 @@
-import numpy as np
-
 import genesis as gs
+import numpy as np
 
 ########################## init ##########################
 gs.init(backend=gs.gpu)
@@ -15,7 +14,6 @@
     ),
     sim_options=gs.options.SimOptions(
         dt=0.01,
-        substeps=4,  # for more stable grasping contact
     ),
     show_viewer=True,
 )
@@ -77,9 +75,10 @@
 # reach
 qpos = franka.inverse_kinematics(
     link=end_effector,
-    pos=np.array([0.65, 0.0, 0.135]),
+    pos=np.array([0.65, 0.0, 0.130]),
     quat=np.array([0, 1, 0, 0]),
 )
+print(qpos)
 franka.control_dofs_position(qpos[:-2], motors_dof)
 for i in range(100):
     scene.step()
@@ -94,9 +93,10 @@
 # lift
 qpos = franka.inverse_kinematics(
     link=end_effector,
-    pos=np.array([0.65, 0.0, 0.3]),
+    pos=np.array([0.65, 0.0, 0.28]),
     quat=np.array([0, 1, 0, 0]),
 )
+print(qpos)
 franka.control_dofs_position(qpos[:-2], motors_dof)
 for i in range(200):
     scene.step()