Questions

[glitchyordis]

1. The videos show that the robot inserts the USB and SSD into a specific slot. Do we need to train for slots located at different positions?
2. There is a mention of using impedance-based controller for Franka. Is it still possible to implement hil-serl on UR5e cobot because I think impedance control is unavailable for Universal Robots.

[jianlanluo]

1. No you’ll just need to use relative coordinates as in the appendix 2.you’ll need either impedance control or admittance control at high rate for contact rich manipulation, you cant use position control for contact

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On Mon, Nov 25, 2024 at 8:58 PM Felix Kong ***@***.***> wrote: 1. The videos <https://hil-serl.github.io/> show that the robot inserts the USB and SSD into a specific slot. Does that mean we'll need to train and demonstrate for each slot if we want the system to perform the task for a slot at a different position? 2. There is a mention of using impedance controller for Franka. Is it still possible to implement on hil-serl UR5e cobot because I don't think impedance control is available for Universal Robots. — Reply to this email directly, view it on GitHub <#10>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AEZPFYSLNKXYPB5CB2S43EL2CP5VRAVCNFSM6AAAAABSPQRBJ2VHI2DSMVQWIX3LMV43ASLTON2WKOZSGY4TGMJSGI3DKNI> . You are receiving this because you are subscribed to this thread.Message ID: ***@***.***>

[glitchyordis]

Is a significant change required if we use admittance control for HIL-SERL? I'm a beginner, so any pointers are appreciated.

[jianlanluo]

We haven't tried working with a UR nor an admittance controller for contact-rich manipulation.

The other group from ETH successfully did this, see this PR: rail-berkeley/serl#77 maybe you can contact them for more help