GitHub - kaizhenSun/catch_it_sim2real: This repository is used for deploying the "Catch It" task.

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This repository is used for deploying the "Catch It" task.

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Name		Name	Last commit message	Last commit date
Latest commit History 7 Commits
dcmm_sim		dcmm_sim
piper_msgs		piper_msgs
rl_s2r		rl_s2r
CMakeLists.txt		CMakeLists.txt
DEBUG.md		DEBUG.md
README.md		README.md
TODO.md		TODO.md
reset.bash		reset.bash

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This repository is used for deploying the "Catch It" task.

重置仿真环境

rosservice call /reset_sim "reset_request: True"

重置真实环境

rosservice call /reset_real "reset_request: True"

手眼标定

打印ArUco markers，ArUco生成网址。
将ArUco markers固定在机械臂末端，并使用Aruco识别工具获取ArUco markers在相机坐标系下的位姿。
移动机械臂末端，使用Record脚本，同时记录机械臂末端的位姿和ArUco markers在相机坐标系下的位姿,建议记录10组以上。
使用标定脚本进行标定，得到result.yaml文件。

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This repository is used for deploying the "Catch It" task.

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