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atenpas / gpd

Detect 6-DOF grasp poses in point clouds
BSD 2-Clause "Simplified" License
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How to move gripper to reach the result of gpd #80

Closed kctoayo88 closed 5 years ago

kctoayo88 commented 5 years ago

Hello,

I'm trying to implement the whole project in my environment and robot. The result of GPD is really amazing, but when I tried to move the robot to the position of bottom, it only can move horizontally an vertically(refer to the coordinate system axis of base_link). In this case, If I would like to approach the object, the gripper will collide the object that I want to reach. Therefore, I want to let robot move forward with tool direction. The gif is captured from your gpd video, and that's what I want to do.

giphy

I know this problem is not related to GPD, but I already survey it for a week and still can't got any information about it. If you could help me this, it would be nice to me. Thank you!

Best, Ying

kctoayo88 commented 5 years ago

I solved it. Sorry for disturbing.

vipulgarg1998 commented 4 years ago

Hi @kctoayo88 Actually, I want to implement GPD too but I am very confused about how to start with this package. Can you help me with this.