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KochPJ / AutoPoseEstimation

MIT License
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Interfacing with UR5e #2

Open totototo96 opened 2 years ago

totototo96 commented 2 years ago

Hi @KochPJ! Congratulation for your project! It's very interesting! Also me, I'm new in terms of working with UR5e and I want to test it with grasping object. It's possible to know more information about how Can we implement the code in the TestController.py? Which library have you used?

Thanks a lot for your helping!

KochPJ commented 2 years ago

hey @totototo96,

we used some kind of a UPC UA Client in order to send the robot some simple PnP movements, and in order to read the Joint and Cartesian space position of the robot. You can use any Robot interface you like. You simply have to define a python interface which provides the api options as required form the RobotController here. You need to create your own Robot Client which gives you the following functions ( GetCurrentCartPose, IsRobotMoving, GetCurrentJointPose, and SetPoseTarget ).

Hope this helps you :)

gongsh0 commented 2 years ago

@KochPJ Congratulation for your project! It's very interesting! I have a question. In the following piece of code:

meta_path = os.path.join(save_path, '{}_grasping_deltas.json'.format(data_set_name))

I want to know where the '{}_grasping_deltas.json' file is defined and how is it generated.

Thanks a lot for your helping!