Comments (3)
from gilbreth.
from gilbreth.
After observing the robot more carefully, it looks like the robot tool does not make contact with the top surface of the object as it is going by, it instead arrives at the conveyor a bit too early and blocks the object from moving forward. That pick strategy needs to be modified. I'd suggest moving the gripper into position just a couple of cm above the expected pick point and then wait until the object passes right underneath it; at this point the arm will move the tool downwards towards the pick point and turn on the gripper. This will require implementing a countdown logic in the robot execution node that will execute that move at the right time. Also, the rail or the arm should be moved one at a time and never simultaneously.
The tool size may be an issue too but our grip strategy will continue to be an problem even if we modify the tool.
from gilbreth.
Related Issues (17)
- Clean up unnecessary gazebo files HOT 1
- MoveIt! Robot in collision by default HOT 4
- Spawn objects in conveyor HOT 3
- Conveyor Spawner Improvements HOT 1
- Gazebo Issues HOT 6
- Install Instructions Fixes
- Application Launch File HOT 1
- Gazebo died when object was dropped into the bin HOT 9
- Perception does not publish detected pick point HOT 5
- gilbreth_controller_spawner always fails on the first attempt at starting the simulation. HOT 16
- Sourcing env_setup.bash with an exec inside HOT 1
- Wall object disposal crashes gazebo HOT 2
- Big objects collide with robot. HOT 2
- Unstable object pick pose HOT 7
- Object teleporting to weird position HOT 2
- Voxel Net runtime errors
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from gilbreth.