I am trying to use ‘UR5e + 2f-140 + realsense D435i (hand-eye)’ in several tasks and now I make the UR5e pick and place the cube. The code saves depth and RGB images at
When I try to use another USD file that has a different home position robot, the UR5e works with a different configuration even though it has the same target position. It looks like it is adjusted the transformation offset from the gripper. How can I fix this problem?
I want to normalize the depth images between 0 to the maximum value which is set by the camera. Which value should I have to set with the maximum value? Is it ok to set the maximum value with Focal distance?
=> I checked the raw output of the depth camera. The range was 0~70m so, I think I have to control the normalization range depending on my environment.
How can I set the initial viewpoint right after running the code? I think the default viewpoint is the perspective and I want it but, my code shows with hand-eye viewpoint.
I share my codes and the problematic USD has the name ‘ur5e_handeye_gripper_upright.usd’.
UR5e_pick_and_place.zip (6.8 MB)