Calculate offset to reduce the area for safe placing

DFKI-NI / grasplan

Grasplan: Simple grasp planning for robots

MIT License

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Calculate offset to reduce the area for safe placing #12

Open jarkenau opened 5 months ago

jarkenau commented 5 months ago

Currently the offset for reducing the place area (e.g top table surface) to a safe sub-area is hard coded: https://github.com/aprilprojecteu/grasplan/blob/c8a27e6fa6685c20a441b1e61b4aeb7fc40634b1/src/grasplan/place.py#L205

We often need to adjust it for demos, further it also highly depends on the current object in the gripper and computing it based on that shouldn't be to difficult. However the different "upwards" axis described in #10 could require some special cases.

mintar commented 5 months ago

Also, this line has two bugs. :)

I've fixed them in #13.

oscar-lima commented 5 months ago

Idea: offset the place plane using interactive markers