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au-rmr / aurmr_web_interface

Web interface for controlling AURMR
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Evaluating Generated grasps #4

Open kavidey opened 2 years ago

kavidey commented 2 years ago

Even without running the code on the real robot, testing & tuning on example grasps would be extremely useful.

@mayacakmak mentioned that we want to focus specifically on bagged and deformable objects.

kavidey commented 2 years ago

I got data from one of the depth cameras on Tahoma and was able to test the fully manual and more automated grasping algorithms. They needed a bit of tuning (most of the tuning was to resize and downsample the point cloud into the expected formats, the algorithms themselves worked pretty well without too many changes.

Blue is the fully manual algorithm (grey dots are where the user clicked) CleanShot 2022-08-01 at 07 58 27@2x CleanShot 2022-08-01 at 07 59 07@2x

Red is the automatic grasping algorithm (the user clicks on the center of the object and specifies a direction) CleanShot 2022-08-01 at 08 25 08@2x CleanShot 2022-08-01 at 08 25 29@2x

markusgrotz commented 2 years ago

@kavidey thank you. Can we test that on the robot?