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SoMa-Project / ec_grasp_planner

Grasp Planner Based on Environmental Constraint Exploitation
BSD 3-Clause "New" or "Revised" License
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Ocado tidy #24

Closed ptriantd-ocado closed 6 years ago

ptriantd-ocado commented 6 years ago

In this branch, the following changes took place:

  1. A Kuka class was created in handarm_params.py extending the base class and separate classes extending this class for each hand were also created.
  2. Unused params were deleted and param names were changed to more intuitive ones.
  3. Recipes that are more or less successful for all SKUs were created.
  4. The heuristics function that picks between a wall and a surface grasp was extended to take into account the object's bounding box