Repository forked from here
Works with Drake downloaded for Ubuntu and also installed through pip with python3.7. To add required libraries, download the robotics_utilities library and put it in the pick_and_place directory. Also clone the manipulation repo and move the manipulation/manipulation directory into the pick_and_place directory. Pip install all other required packages (most are in the manipulation/*_requirements.txt file and robotics_utilities/requirements.txt file, the rest come up as errors when trying to run any python file in pick_and_place. Install as needed. Graphviz should also be pip installed as well as installed to the machine as a package (ie apt install graphviz or pacman -S graphviz). With Drake installed through pip, right now the package.xml is missing through path- see here to fix.
We would like to pick, sort, and place different produce into bins using the KUKA iiwa arm. Currently we have models for cucumbers, mangoes, and limes.
- Add multiple produce items
- Edit camera pose to try and avoid collisions?
- Add extra box(es) for sorted produce
- Distinguish between what produce the robot is currently grasping- should do in grasp sampling, detect bounding boxes between produce to figure out how to grasp and also what to grasp
- Change trajectory based on what the robot is grasping
- Make animation go faster?