How can I control grasp width?

Unity-Technologies / Robotics-Object-Pose-Estimation

A complete end-to-end demonstration in which we collect training data in Unity and use that data to train a deep neural network to predict the pose of a cube. This model is then deployed in a simulated robotic pick-and-place task.

Apache License 2.0

293 stars 75 forks source link

How can I control grasp width? #41

Closed cwkim1993 closed 2 years ago

cwkim1993 commented 2 years ago

Hello, I changed target object from cube to another 3d model from linemod dataset https://bop.felk.cvut.cz/datasets/. Also, I changed model to estimate target pose and this can correctly estimate target position. But, robot knuckles can't grasp my target object (grasp width always wider then object). To solve this problem, I've tried to find parameter like grasp width but I couldn't find this any where (yaml files, mover.py ...).

Can you suggest any idea to solve this problem?

Thank you.

cwkim1993 commented 2 years ago

I found variable named gripperAngle in TrajectoryPlanner.cs and changed this value from 14f -> 80f. After changing, grasping works fine!