UR5LegoVision

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Frictionless between table and object

1

The object on table seems have a tiny movement, caused by the less friction amount between them. This can lead to inaccuracy when assemblying objects.

anhtuduong

ee pose will be published to this topic: ```python self.pub_ee_pose = ros.Publisher("/ur5/ee_pose", geometry_msgs.msg.Pose, queue_size=1, tcp_nodelay=True) ```

anhtuduong

Scene setup

1

Table mesh (tavolo) has been added to the robot description to help moveit generate collision detection. This effects: - params.py: ``` 'spawn_x' : 0.5, 'spawn_y' : 0.35, 'spawn_z' : 1.75,...

anhtuduong

Set limit pick and place area

1

Set limit area for placing lego blocks to avoid singularity.

anhtuduong

Duplicate TF publish

1

When launching `main` and `moveit`, both of them publish the same TF. 

anhtuduong

Gripper

2

3 fingers gripper is currently controlled by a ROS service: ```python ros.Service('move_gripper', generic_float, self.move_gripper_callback) ``` But it seems to move parallelly with robot joint, which is a bug.

anhtuduong

## Inverse Kinematics The inverse kinematics problem involves finding the joint angles that correspond to a desired end-effector position and orientation. The UR5 robot arm has six revolute joints, and...

anhtuduong

anhtuduong

anhtuduong

### Transformation Point cloud taken from ZED camera is based on the camera's frame. We need to transform every point cloud to world's frame as it is the base frame....

anhtuduong