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Detect if an object is in the cup

Posted: 25 Jul 2017, 05:17
by anandsaha
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

Re: Detect if an object is in the cup

Posted: 28 Jan 2019, 15:51
by esperancaleo
maybe, put a sensor to detect something inside the cup, maybe by color or proximity

Re: Detect if an object is in the cup

Posted: 29 Jan 2019, 14:21
by coppelia
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