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swri-robotics / gilbreth

robotic product handling simulation
BSD 3-Clause "New" or "Revised" License
18 stars 12 forks source link

Big objects collide with robot. #38

Open alex07zzz opened 6 years ago

alex07zzz commented 6 years ago

Objects are too big, sometimes they collide with the robot and the conveyor belt. Shall we re-scale them? Smaller objects will also reduce object recognition time.

jrgnicho commented 6 years ago

Can you show a picture? Scaling them down may degrade the recognition results.

jrgnicho commented 6 years ago

As observed in offline, there are times when the part collides with the rail as the robot moves it from the pick position to the bin. The suggested fix is to add more intermediate moves and avoid moving the arm and rail joints simultaneously. Alternatively, attaching the object to the start state prior to planning should also fix this.