This was tested on the real robot with 3 different objects for which we have some parameters slightly tuned. The edge grasp at TUB works only on the right side of the table (from robot point of view) due to kinematic limitation.
The chosen edge for grasping is randomly selected from all possible edges, so one might need to re-run multiple times until the correct edge is selected. This can be fixed if we include object-ec heuristic like argmin(object distance to edge)
This was tested on the real robot with 3 different objects for which we have some parameters slightly tuned. The edge grasp at TUB works only on the right side of the table (from robot point of view) due to kinematic limitation.
The chosen edge for grasping is randomly selected from all possible edges, so one might need to re-run multiple times until the correct edge is selected. This can be fixed if we include object-ec heuristic like
argmin(object distance to edge)