Multiple Block Grasping

Table of Contents

Scenario
Experiments
-Control (1-Block)
-2-Block
-3-Block
-4-Block
-5-Block
-6-Block
-7-Block
-8-Block
-9-Block
-10-Block
-11-Block

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Scenario

For the multiple block grasp scenario, we modeled a simple manipulator consisting of a fixed base and a pair of parallel grippers. The grippers are modeled as boxes with dimensions of 200mm x 100mm x 200mm and a mass of 1 kg. Each gripper is actuated toward closure with 100N of force per block.

The object to be grasped was modeled as a simple cube with equal dimensions of 100mm. The mass of the object to be grasped was set to 1 kg, and its inertial tensor was derived from a box with given dimensions and mass.

In our experiments, we varied the number of grasping objects from one to eleven and compared the performance of ODE, Bullet, and DART using the metric.

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Experimental Results

Note: Videos of the results are available on the Videos page.

Control (1-Block)

High Friction

Dynamics	Total Sim Time (s)	Total Real Time (s)
ODE (default)	100	100.404
ODE (tuned)	100	114.886
DART (default)	100	100.613
Bullet (default)	1.015	1.01901

'Infinite' Friction

Dynamics	Total Sim Time (s)	Total Real Time (s)
ODE (default)	100	100.424
ODE (tuned)	100	115.704
DART (default)	100	100.423
Bullet (default)	0.973	0.989739

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2-Block

High Friction

Dynamics	Total Sim Time (s)	Total Real Time (s)
ODE (default)	100	100.51
ODE (tuned)	100	151.965
DART (default)	100	100.75
Bullet (default)	3.249	3.26113

'Infinite' Friction

Dynamics	Total Sim Time (s)	Total Real Time (s)
ODE (default)	100	100.447
ODE (tuned)	100	152.805
DART (default)	100	100.473
Bullet (default)	38.476	38.6392

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3-Block

High Friction

Dynamics	Total Sim Time (s)	Total Real Time (s)
ODE (default)	2.501	2.51091
ODE (tuned)	100	196.734
DART (default)	100	101.11
Bullet (default)	2.273	2.27915

'Infinite' Friction

Dynamics	Total Sim Time (s)	Total Real Time (s)
ODE (default)	2.055	2.06012
ODE (tuned)	100	200.52
DART (default)	100	100.946
Bullet (default)	2.464	2.47432

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4-Block

High Friction

Dynamics	Total Sim Time (s)	Total Real Time (s)
ODE (default)	1.358	1.36158
ODE (tuned)	100	305.8
DART (default)	100	115.863
Bullet (default)	3.169	3.18532

'Infinite' Friction

Dynamics	Total Sim Time (s)	Total Real Time (s)
ODE (default)	1.005	1.00754
ODE (tuned)	100	235.629
DART (default)	100	129.469
Bullet (default)	2.724	2.73829

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5-Block

High Friction

Dynamics	Total Sim Time (s)	Total Real Time (s)
ODE (default)	0.919	0.923275
ODE (tuned)	100	329.378
DART (default)	100	156.848
Bullet (default)	4.549	4.47068

'Infinite' Friction

Dynamics	Total Sim Time (s)	Total Real Time (s)
ODE (default)	0.908	0.910284
ODE (tuned)	100	359.607
DART (default)	100	163.195
Bullet (default)	5.634	5.65103

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6-Block

High Friction

Dynamics	Total Sim Time (s)	Total Real Time (s)
ODE (default)	0.916	0.92073
ODE (tuned)	100	337.85
DART (default)	100	226.561
Bullet (default)	4.422	4.45291

'Infinite' Friction

Dynamics	Total Sim Time (s)	Total Real Time (s)
ODE (default)	0.799	0.803641
ODE (tuned)	100	356.729
DART (default)	100	230.552
Bullet (default)	5.735	5.75944

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7-Block

High Friction

Dynamics	Total Sim Time (s)	Total Real Time (s)
ODE (default)	0.734	0.741244
ODE (tuned)	100	397.721
DART (default)	100	285.053
Bullet (default)	5.872	5.90848

'Infinite' Friction

Dynamics	Total Sim Time (s)	Total Real Time (s)
ODE (default)	0.626	0.626578
ODE (tuned)	100	401.329
DART (default)	100	274.039
Bullet (default)	6.073	6.09188

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8-Block

High Friction

Dynamics	Total Sim Time (s)	Total Real Time (s)
ODE (default)	0.647	0.651666
ODE (tuned)	100	445.104
DART (default)	100	356.06
Bullet (default)	6.396	6.44961

'Infinite' Friction

Dynamics	Total Sim Time (s)	Total Real Time (s)
ODE (default)	0.834	0.836745
ODE (tuned)	100	445.985
DART (default)	100	350.75
Bullet (default)	6.596	6.61606

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9-Block

High Friction

Dynamics	Total Sim Time (s)	Total Real Time (s)
ODE (default)	0.675	0.678956
ODE (tuned)	100	481.781
DART (default)	75.983	329.325
Bullet (default)	6.684	6.73102

'Infinite' Friction

Dynamics	Total Sim Time (s)	Total Real Time (s)
ODE (default)	0.733	0.735447
ODE (tuned)	100	467.009
DART (default)	40.542	191.55
Bullet (default)	7.549	7.57925

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10-Block

High Friction

Dynamics	Total Sim Time (s)	Total Real Time (s)
ODE (default)	0.615	0.616905
ODE (tuned)	100	579.845
DART (default)	31.548	177.749
Bullet (default)	7.226	7.28226

'Infinite' Friction

Dynamics	Total Sim Time (s)	Total Real Time (s)
ODE (default)	0.695	0.696719
ODE (tuned)	100	551.915
DART (default)	38.674	206.146
Bullet (default)	7.584	7.60878

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11-Block

High Friction

Dynamics	Total Sim Time (s)	Total Real Time (s)
ODE (default)	0.638	0.64347
ODE (tuned)	100	619.25
DART (default)	30.096	198.967
Bullet (default)	7.031	7.09887

'Infinite' Friction

Dynamics	Total Sim Time (s)	Total Real Time (s)
ODE (default)	0.492	0.495125
ODE (tuned)	100	628.098
DART (default)	59.807	398.344
Bullet (default)	8.896	8.93778

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Metric
Industrial Arm Grasping
Anaylsis
Videos