Hi, I want my 5DOF arm to grasp a bottle, with the camera placing aside the arm (see picture here).
However the grasp candidates with high scores (about 1000, blue ones) are not so easy to reach for 5DOF arms (should be reachable for 6DOF arm).
I use the "filter_approach_direction" to select the grasp candidates like the red one, which is reachable by the 5DOF arm but has a very low score (-900 or so).
Firstly I'm curious why the grasp candidates like the red one have such low scores. Secondly, is it possible to give the rough robot pose to help grade the grasp candidatess to make sure that the high score grasp candidates are reachable for the arm.
Hi, I want my 5DOF arm to grasp a bottle, with the camera placing aside the arm (see picture here).
However the grasp candidates with high scores (about 1000, blue ones) are not so easy to reach for 5DOF arms (should be reachable for 6DOF arm).
I use the "filter_approach_direction" to select the grasp candidates like the red one, which is reachable by the 5DOF arm but has a very low score (-900 or so).
Firstly I'm curious why the grasp candidates like the red one have such low scores. Secondly, is it possible to give the rough robot pose to help grade the grasp candidatess to make sure that the high score grasp candidates are reachable for the arm.
Thanks!