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ur5 robot pick up orientation #1

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portgasray opened this issue Aug 28, 2019 · 5 comments
Open

ur5 robot pick up orientation #1

portgasray opened this issue Aug 28, 2019 · 5 comments
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@EmilyJrxx
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enhancement New feature or request

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@portgasray
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  • make sure the sucker will be at same level with wooden block when pick up

here is the source code:

ur5_vision_pick/ur5_grasping/ur5_pick_up.py

Line 205 in 1e37910

pose_goal.orientation.x = 0.5

@portgasray portgasray added the question Further information is requested label Aug 28, 2019
@portgasray
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moveit python interface
http://docs.ros.org/melodic/api/moveit_tutorials/html/doc/move_group_python_interface/move_group_python_interface_tutorial.html#the-entire-code

@portgasray portgasray added enhancement New feature or request and removed question Further information is requested labels Aug 28, 2019
@portgasray
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whether we can assume the grasp pose according the block status, such as normal vector.

@EmilyJrxx
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https://blog.csdn.net/weixin_40799950/article/details/81911877
linemod Algorithm, which can detect object in cluttered scenes and can give the postition, orientation and header.
image

About how to use the detection result given by Linemod and apply it into tf to complete the coordinate transformation:
https://blog.csdn.net/weixin_40799950/article/details/83620820

@portgasray
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portgasray commented Aug 28, 2019 •
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How to define end-effector orientation
https://www.researchgate.net/post/How_do_I_give_the_reference_orientation_angle_of_the_end_effector_of_robotic_arm

Robot Path and End-Effector Orientation Planning Using Augmented Reality

@portgasray portgasray reopened this Aug 28, 2019
@portgasray
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portgasray commented Sep 2, 2019 •
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Orientation in other repo

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@portgasray @EmilyJrxx