Interfacing with UR5e about autoposeestimation

[KochPJ]

hey @totototo96,

we used some kind of a UPC UA Client in order to send the robot some simple PnP movements, and in order to read the Joint and Cartesian space position of the robot. You can use any Robot interface you like. You simply have to define a python interface which provides the api options as required form the RobotController here. You need to create your own Robot Client which gives you the following functions ( GetCurrentCartPose, IsRobotMoving, GetCurrentJointPose, and SetPoseTarget ).

Hope this helps you :)

[gongsh0]

@KochPJ
Congratulation for your project! It's very interesting!
I have a question.
In the following piece of code:

meta_path = os.path.join(save_path, '{}_grasping_deltas.json'.format(data_set_name))

I want to know where the '{}_grasping_deltas.json' file is defined and how is it generated.

Thanks a lot for your helping!