Hi,
In the demo_assembly, if we switch all the bricks to L=2 W=1 (2x1) bricks, there is a probability that picking the brick with the panda arm can cause slippage.
Here is the updated demo_assembly_structure1.json schema
{ "schema": "bricksim/lego_topology@2", "parts": [ { "id": 0, "type": "brick", "payload": { "L": 20, "W": 20, "H": 1, "color": [ 155, 161, 157 ] } }, { "id": 1, "type": "brick", "payload": { "L": 1, "W": 2, "H": 3, "color": [ 201, 26, 9 ] } }, { "id": 2, "type": "brick", "payload": { "L": 1, "W": 2, "H": 3, "color": [ 0, 85, 191 ] } }, { "id": 3, "type": "brick", "payload": { "L": 1, "W": 2, "H": 3, "color": [ 252, 151, 172 ] } }, { "id": 4, "type": "brick", "payload": { "L": 1, "W": 2, "H": 3, "color": [ 35, 120, 65 ] } } ], "connections": [ { "id": 0, "stud_id": 1, "stud_iface": 1, "hole_id": 2, "hole_iface": 0, "offset": [ 0, 0 ], "yaw": 0 }, { "id": 1, "stud_id": 0, "stud_iface": 1, "hole_id": 1, "hole_iface": 0, "offset": [ 9, 8 ], "yaw": 1 }, { "id": 2, "stud_id": 2, "stud_iface": 1, "hole_id": 3, "hole_iface": 0, "offset": [ 0, 0 ], "yaw": 0 }, { "id": 3, "stud_id": 3, "stud_iface": 1, "hole_id": 4, "hole_iface": 0, "offset": [ 1, 0 ], "yaw": 0 } ], "pose_hints": [ { "part": 0, "pos": [ 0.0, 0.0, 0.0 ], "rot": [ 1.0, 0.0, 0.0, 0.0 ] } ] }
Video Link
Hi,
In the demo_assembly, if we switch all the bricks to L=2 W=1 (2x1) bricks, there is a probability that picking the brick with the panda arm can cause slippage.
Here is the updated demo_assembly_structure1.json schema
{ "schema": "bricksim/lego_topology@2", "parts": [ { "id": 0, "type": "brick", "payload": { "L": 20, "W": 20, "H": 1, "color": [ 155, 161, 157 ] } }, { "id": 1, "type": "brick", "payload": { "L": 1, "W": 2, "H": 3, "color": [ 201, 26, 9 ] } }, { "id": 2, "type": "brick", "payload": { "L": 1, "W": 2, "H": 3, "color": [ 0, 85, 191 ] } }, { "id": 3, "type": "brick", "payload": { "L": 1, "W": 2, "H": 3, "color": [ 252, 151, 172 ] } }, { "id": 4, "type": "brick", "payload": { "L": 1, "W": 2, "H": 3, "color": [ 35, 120, 65 ] } } ], "connections": [ { "id": 0, "stud_id": 1, "stud_iface": 1, "hole_id": 2, "hole_iface": 0, "offset": [ 0, 0 ], "yaw": 0 }, { "id": 1, "stud_id": 0, "stud_iface": 1, "hole_id": 1, "hole_iface": 0, "offset": [ 9, 8 ], "yaw": 1 }, { "id": 2, "stud_id": 2, "stud_iface": 1, "hole_id": 3, "hole_iface": 0, "offset": [ 0, 0 ], "yaw": 0 }, { "id": 3, "stud_id": 3, "stud_iface": 1, "hole_id": 4, "hole_iface": 0, "offset": [ 1, 0 ], "yaw": 0 } ], "pose_hints": [ { "part": 0, "pos": [ 0.0, 0.0, 0.0 ], "rot": [ 1.0, 0.0, 0.0, 0.0 ] } ] }Video Link