Add two dynamic task scenes: catching and throwing#43
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The baked pose pinned the joint 0.25 mrad from the limit -- fragile to any retuning. 0.78 rad keeps the same throw (validated: same in-bin landing, deterministic) with 5.4 mrad of margin.
Contributor
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@Manas-arumalla Thanks for adding a new scene! I will check soon! (Sorry for waiting) |
k1000dai
reviewed
Jul 15, 2026
Comment on lines
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| <key name="catch_ready" | ||
| qpos="0 0 0 0 0 0 0 0 0 | ||
| 1.63955 0.67234 -0.68604 1.32130 -0.69509 0.33258 0.43927 -0.7854 -0.7854 | ||
| 1.05 -0.25 0.95 1 0 0 0" | ||
| ctrl="0 0 0 0 0 0 0 0 | ||
| 1.63955 0.67234 -0.68604 1.32130 -0.69509 0.33258 0.43927 -0.7854"/> |
Contributor
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Suggested change
| <key name="catch_ready" | |
| qpos="0 0 0 0 0 0 0 0 0 | |
| 1.63955 0.67234 -0.68604 1.32130 -0.69509 0.33258 0.43927 -0.7854 -0.7854 | |
| 1.05 -0.25 0.95 1 0 0 0" | |
| ctrl="0 0 0 0 0 0 0 0 | |
| 1.63955 0.67234 -0.68604 1.32130 -0.69509 0.33258 0.43927 -0.7854"/> | |
| <key name="catch_ready" | |
| qpos="0 0 0 0 0 0 0 0 0 | |
| 1.63955 0.67234 -0.68604 1.32130 -0.69509 0.33258 0.43927 -0.7854 -0.7854 | |
| 1.05 -0.25 0.95 1 0 0 0" | |
| qvel="0 0 0 0 0 0 0 0 0 | |
| 0 0 0 0 0 0 0 0 0 | |
| -1.701 0.067 2.052 0 0 0" | |
| ctrl="0 0 0 0 0 0 0 0 | |
| 1.63955 0.67234 -0.68604 1.32130 -0.69509 0.33258 0.43927 -0.7854"/> |
Contributor
Both work well on my side and looks good! |
Review suggestion: the keyframe now carries the ball's launch velocity, so loading it in the viewer immediately shows a throw toward the arm -- no controller needed. The default arc is catchable (verified: the reference controller takes it cleanly).
Contributor
Author
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Good idea. Applied your suggestions. Thanks for testing both! |
Contributor
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@kou Looks good to me |
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catch_scene.xml— a ball is thrown through the air toward the rightarm: a controller sets the ball's launch pose and velocity at reset, and
it flies a parabola. Two RGB-D cameras face the flight corridor for
vision-based tracking. The ball is caught in flight. Grasp weld
on the ball, same convention as the balance scene:
the catch is weld-based and velocity-matched at the grab, not a
simulated impact.
throw_scene.xml— the arm picks a ball off a small side table andthrows it into a bin on the floor beyond its reach. The bin sits on the
floor, which is why this scene keeps a small side table instead of the
shared cell table.
dynamic tasks need the arm already in position, catching leaves no time
to move after launch.