Inverse Kinematics Pick and Place
Posted: 10 May 2021, 01:40
Hello,
I'm new to Coppelia.
I have built a scene using UR5 and Baxter Gripper. There is a table next to the UR5 and there are some cubes I placed on the table for the grasping task, what I want to do is using a controlling console to give the scene an 8-elements tuple to let the robot perform inverse kinematics picking up task (x, y, z, alpha, beta, gamma, distance1, distance2). Here xyz is the position of the gripper, alpha-beta-gamma is the orientation of the gripper. Distance1 is the desired distance between two gripper pads before grasping(should be set in the air), while Distance2 is the desired distance between two grippers at the end of grasping, then pick up and put the objects somewhere. Before each grasping task performed, I'd like the scene to return me a list of all cubes on the table with their xyz position and their alpha-beta-gamma orientation. Here is my scene in the link, thanks in advance for helping me look at this. I know some Lua and Python, and I have set up the python Remote API.
https://drive.google.com/file/d/1XF7z8- ... sp=sharing
I'm new to Coppelia.
I have built a scene using UR5 and Baxter Gripper. There is a table next to the UR5 and there are some cubes I placed on the table for the grasping task, what I want to do is using a controlling console to give the scene an 8-elements tuple to let the robot perform inverse kinematics picking up task (x, y, z, alpha, beta, gamma, distance1, distance2). Here xyz is the position of the gripper, alpha-beta-gamma is the orientation of the gripper. Distance1 is the desired distance between two gripper pads before grasping(should be set in the air), while Distance2 is the desired distance between two grippers at the end of grasping, then pick up and put the objects somewhere. Before each grasping task performed, I'd like the scene to return me a list of all cubes on the table with their xyz position and their alpha-beta-gamma orientation. Here is my scene in the link, thanks in advance for helping me look at this. I know some Lua and Python, and I have set up the python Remote API.
https://drive.google.com/file/d/1XF7z8- ... sp=sharing