Closed Marcelbgit closed 2 years ago
Hi Marcel,
it is definitely possible to adapt this project for the Kuka iiwa! Please keep in mind that this repository is not meant to be plug-and-play, so it will be a bit of work to integrate all your hardware (robot, camera, gripper) and setting up the software. You can also have a look at Griffig, which currently only does grasp calculation, but might be a useful to understand the abstraction between manipulation planning and robot control.
Anyway, you are right that you would primarily need to adapt the Robot class, the launch files, and a few things in config.py. If there are any more specific questions, feel free to ask.
Hello Pantor,
thanks for sharing your very exciting work and code! Is it possible to adapt your code to a KUKA iiwa? What steps would be necessary here? Replacing the launch and include files would be my guess. Are there also other interfaces that I need to adapt for this. I would be glad about the help and answer. I would like to test and develop your code for other applications.
Best regards, Marcel