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Camera Calibration

Static Camera

  • Stick the marker to the robot end-effector
  • Run python robot_io/calibration/static_cam_calibration.py --config-name=[panda_calibrate_static_cam|iiwa_calibrate_static_cam]
  • If you set record_traj: true, then you should use vr controller to move the robot. Press the record button (on top) to sample poses, and hold record button to finish the pose sampling.
  • If you set record_traj: false and play_traj: true, the robot will move to the previously recorded poses and captures the marker pose. This option is helpful in case the camera is moved slightly.

Gripper Camera

  • Place Aruco Marker in front of robot
  • Run python robot_io/calibration/gripper_cam_calibration.py --config-name=[panda_calibrate_gripper_cam|kuka_calibrate_gripper_cam]

Teleoperation

Make sure to set workspace limits appropriately in `robot_io/conf/robot/<robot_interface.yaml>

$ python robot_io/control/teleop_robot.py --config-name=[panda_teleop|kuka_teleop]