robot arm manipulation #20
Description
Dear authors @ LeCAR-Lab stuffs,
What an amazing work！I’m integrating DIAL-MPC for robot arm pick‐and‐place tasks with both the xArm7 and xArm6. I’ve noticed a potential issue with mixed actuator types:
On quadruped or humanoid platforms like Go2 and H1, all actuators share the same motor type, so the control sequence
On the xArm7, however, the seven link joints use “general” actuators but the gripper is driven via a tendon actuator (we can treat it as two tendon actuators).
Because DIAL-MPC’s reverse scan and rollout assume a uniform actuator model, this mismatch degrades performance. In our tests, an xArm7 without the gripper plans a reasonable trajectory to reach the cube, but when the tendon-driven gripper is included, planning quality drops substantially, reverse-scan time balloons, and runtime delays increase.
Could we discuss how best to handle mixed actuator types in the control sequence? I’d appreciate any guidance on aligning tendon-driven actuators with DIAL-MPC’s planning framework.
Sincerely,
Chenbin Yu
ERL, UCSD