cloth stick to ground when gripped
k-ish0212 opened this issue · 4 comments
hi, I'm currently working on softgym project and happened to the gif situation: cloth sticks to ground when gripped. Do you know why it happen? I select a cloth's particle as picking position.
Thank you.
.
can you provide your code for reproducing this?
This is the reason of stickness. There were two gripper balls and we changed the ball size very small. We'll share the code later, the problem was due to the self.action_tool.reset() function. When I call this function, a new gripper spawned and it was on the cloth. I managed to change the first spawn point of the gripper(first gripper which made from self.env.reset() func was not used for me) away from the cloth by some changes of action_space.py.
Sorry for late, here is the code. The branch is
cc10dbf6666f4029c6046ca137304ceed34ff664
on https://github.com/matsuolab-research/vcd.git
It looks like it's sticking to one of the pickers (the white spherical ball), can you double check that the corresponding picker isn't set to "pin" any nearby particles?