Pick a cup from a table
Hi there. I have been trying to pick up a cup from a table. if the cup is at the edge of the table it works pretty well. the thing is what I am doing is adding a "surface" under the detected cup (just a rectangle) and then it avoid the collision nicely. But when the cup is not at the end of the table, the measures of the "surface" is hard coded, hence it doesn't avoid the table and the arm collide with it. I have been looking for answers but I didn't find any, Is there a way to add the table to the collision avoiding with a not hard coded surface? using point-cloud or something? I have also seen something regarding Octomap if so is there any good tutorial for that? I couldn't understand the one on Move it tutorials. My robot has kinect camera with point cloud2 and depth.
