From 19c2bedbac1c304095498396aeae76fb59578f80 Mon Sep 17 00:00:00 2001 From: Rebecca Zhang Date: Mon, 13 Oct 2025 17:05:47 +0800 Subject: [PATCH] decreases the max_grip_distance for surface_gripper, to avoid unreal grasping behavior --- .../stack/config/galbot/stack_joint_pos_env_cfg.py | 2 +- .../stack/config/ur10_gripper/stack_joint_pos_env_cfg.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_joint_pos_env_cfg.py index af7c2c07c4a..f50ee618aab 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_joint_pos_env_cfg.py @@ -262,7 +262,7 @@ def __post_init__(self): # Set surface gripper: Ensure the SurfaceGripper prim has the required attributes self.scene.surface_gripper = SurfaceGripperCfg( prim_path="{ENV_REGEX_NS}/Robot/right_suction_cup_tcp_link/SurfaceGripper", - max_grip_distance=0.02, + max_grip_distance=0.0075, shear_force_limit=5000.0, coaxial_force_limit=5000.0, retry_interval=0.05, diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_joint_pos_env_cfg.py index 467df1d4410..726d9079472 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_joint_pos_env_cfg.py @@ -152,7 +152,7 @@ def __post_init__(self): # Set surface gripper: Ensure the SurfaceGripper prim has the required attributes self.scene.surface_gripper = SurfaceGripperCfg( prim_path="{ENV_REGEX_NS}/Robot/ee_link/SurfaceGripper", - max_grip_distance=0.05, + max_grip_distance=0.0075, shear_force_limit=5000.0, coaxial_force_limit=5000.0, retry_interval=0.05, @@ -190,7 +190,7 @@ def __post_init__(self): # Set surface gripper: Ensure the SurfaceGripper prim has the required attributes self.scene.surface_gripper = SurfaceGripperCfg( prim_path="{ENV_REGEX_NS}/Robot/ee_link/SurfaceGripper", - max_grip_distance=0.05, + max_grip_distance=0.0075, shear_force_limit=5000.0, coaxial_force_limit=5000.0, retry_interval=0.05,