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lagadic / visp

Open Source Visual Servoing Platform
https://visp.inria.fr/
GNU General Public License v2.0
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Camera Attachment to Panda Robot #902

Closed jk-ethz closed 3 years ago

jk-ethz commented 3 years ago

Hi,

I just went over the tutorial at https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-franka-pbvs.html It says to attach the Realsense camera to the robot end-effector. My question: How did you do it? Where exactly is it mounted to the robot? I find it hard to find any good points of attachment on the robot. Did you use some custom 3D printed mount?

Here is the corresponding video https://www.youtube.com/watch?v=7A5cqUEKXHg

fspindle commented 3 years ago

It is here a mechanical part in aluminium, but you can also 3D print your own interface.

ndahn commented 3 years ago

So.... would you provide said model somewhere? :)

fspindle commented 3 years ago

We released the CAD model of a 3D printed part that allows to attach an Intel RealSense D435 camera to the Panda flange. The STL file is available here: https://github.com/lagadic/visp_ros/tree/master/tutorial/franka/real-robot

ndahn commented 3 years ago

Thank you! But that's for a different camera than in the video :/ I found a generic camera mount in franka world. Not quite perfect for the RealSense VF0810, but with some adjustments and/or some glue it will be fine.