Tips for using SAPIEN

Tips for building up a SAPIEN environment

Rotation Convention

• SAPIEN use WXYZ quaternion convention!

Stiffness and Damping

• Robot Stiffness and damping are important. For motion planing, we need a high stiffness and damping value.

  for joint in self.active_joints:
      joint.set_drive_property(stiffness=1000, damping=200)
  However, in the Official SAPIEN tutorial, the stiffness and damping in their Gym-like environment are:

  for joint in self.active_joints[:5]:
      joint.set_drive_property(stiffness=0, damping=4.8)
  for joint in self.active_joints[5:7]:
      joint.set_drive_property(stiffness=0, damping=0.72)