Sticky mode for robot grasping.

[Goat-L]

Dear authors:
Thanks for your great work!
I am wandering can the R1 robot grasps custom usd object with sticky mode? Or the sticky mode is only useful when grasping primitive object?

[hang-yin]

Hi @Goat-L , sticky grasping should work with any arbitrary usd objects. The only exception is when the object is too heavy - we do have a force threshold for how much this sticky grasp can keep. There are some macro values you can play around in omnigibson/robots/manipulation_robot.py such as MAX_ASSIST_FORCE.