Detect if an object is in the cup

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anandsaha
Posts: 2
Joined: 22 Jul 2017, 17:52

Detect if an object is in the cup

Post by anandsaha » 25 Jul 2017, 05:17

Hi,

I am experimenting with 'uarm with gripper' and trying to control it with the python client apis. I have pulled in a cup in the scene and am trying to put the cylindrical object in the cup using the gripper.

How do I detect (without getting into positional calculations) if the object is in the cup? Is there any inbuilt API which can do this?

Basically I want a boolean output suggesting whether object X is in the cup, or not.

Any pointers will be helpful.

Thanks,
Anand

esperancaleo
Posts: 3
Joined: 16 Jan 2019, 17:31

Re: Detect if an object is in the cup

Post by esperancaleo » 28 Jan 2019, 15:51

maybe, put a sensor to detect something inside the cup, maybe by color or proximity

coppelia
Site Admin
Posts: 6952
Joined: 14 Dec 2012, 00:25

Re: Detect if an object is in the cup

Post by coppelia » 29 Jan 2019, 14:21

Yes, or you can also simply read the position of the object and the cup and if they are within the cup radius, then the object is in the cup.

Cheers

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