Open JemuelStanley47 opened 5 months ago
Observations during test grasp execution:
1) Hand-frame orientation = Body Frame orientation : Ideal grasp pose frame is +-90 about gripper-axis
Compute pre-grasp orientation
Observed that the gripper's 'claw' motion can't exactly be assumed to be 'parallel' as the upper-jaw length > lower-jaw.
GPD requires camera_orientation: 0,0,0
, so grasp poses won't be filtered according to approach axis if the point cloud is transformed from sensor frame -> body frame
.
The modifications required:
1) Get inference from sensor-frame / hand-frame
2) Transform grasp candidates
to body frame
3) Execute grasp (might need post-processing for gripper angle orientation)
Initial tests:
data/PCD/
scripts/perform_grasp.py