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RoBorregos / home-manipulation

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Detect Cabinet Shelves #26

Open EmilianoHFlores opened 7 months ago

EmilianoHFlores commented 7 months ago

The current iteration of the pick and place depends on the Object_Detector_3D program, where a 3D point cloud is processed to cut the largest planar surface found in the robot's vision range, which is assumed to be the table.

While this approach has been proven successful for picking and placing objects in tables, development on the Storing Groceries task implies placing objects on different cabinet shelves.

A new detector 3D that can receive a level and/or height at which to place a given object has to be developed, which is to be able to detect the levels and cut the surface accordingly to be used with the Clustering or another placing position algorithm.

EmilianoHFlores commented 5 months ago

This issue will be on hold as current iteration will look shelf level by shelf level