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Finally it is picking the object
It finally picks up the object. It took me the whole afternoon to get this working. At first, I was aligning the object with the end-effector frame instead of the gripper frame, so I had to change that. I also had to split the motion into stages. From the initial view, the object center was not estimated accurately enough, so the robot first moves to a higher hover pose, gets a better view from above, recomputes the target, and then performs the grasp. The final grasp pose still looks a bit strange to me, and I needed to tinker with some extra parameters because in this pose the object is out of the camera field, so I ended up with a grasping pose via trial and error. This is my first time building something like this, so I am not completely sure what to think of it. I tested it several times, and it picks the object reliably. So I guess: if it works, it works. What do you think? submitted by /u/nettrotten [link] [Kommentare] reddit.com · reddit.com
It finally picks up the object. It took me the whole afternoon to get this working. At first, I was aligning the object with the end-effector frame instead of the gripper frame, so I had to change that. I also had to split the motion into stages. From the initial view, the object center was not estimated accurately enough, so the robot first moves to a higher hover pose, gets a better view from above, recomputes the target, and then performs the grasp. The final grasp pose still looks a bit strange to me, and I needed to tinker with some extra parameters because in this pose the object is out of the camera field, so I ended up with a grasping pose via trial and error. This is my first time building something like this, so I am not completely sure what to think of it. I tested it several times, and it picks the object reliably. So I guess: if it works, it works. What do you think? submitted by /u/nettrotten [link] [Kommentare]
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