Initialization with the object already grasped

[zichunxx]

Hi!

I want to initialize a model with the object being grasped by the gripper so that the arm does not have to re-grasp each time when resetting the environment in reinforcement learning.

I have tried some methods that end up with the object falling off before it was grasped. Is it feasible to realize this?

Thanks!

[Balint-H]

Have you tried to grasp the object, then saving data->qpos, then restore it as needed? (Setting qvel and qacc to zero as well)

[zichunxx]

Have you tried to grasp the object, then saving data->qpos, then restore it as needed? (Setting qvel and qacc to zero as well)

Really appreciate the important advice! I missed the key factor of setting qacc to zero and further induced the unstable reset.

Thanks for your kindness!