Pick and Place Demo
This tutorial demonstrates how to use the Agilebot robot for pick and place tasks. For detailed instructions, please refer to:
Overview
The pick and place demo shows how the robot identifies, grasps objects, and places them at specified locations. This demo combines motion planning, grasping control, and visual perception capabilities.
Prerequisites
- Completed Isaac Sim Environment Setup
- Completed Display Agilebot Robot Model in Isaac Sim
Running the Demo
Using Project Demo Script
cd agilebot_isaac_sim
python agilebot_integration/demos/pick_place.pyDemo Description
Picking Process
- Pre-grasp Position: Move above the object
- Grasp Position: Descend to the object position
- Close Gripper: Control gripper to close and grasp the object
- Lift Object: Lift the object off the table
- Move to Target: Move above the target position
- Place Object: Descend to the target position
- Open Gripper: Release the object
- Lift Up: Lift the end-effector
Gripper Control
Agilebot robots support various gripper configurations:
| Gripper Type | Description | Control Method |
|---|---|---|
| Parallel Gripper | Parallel gripper | Position control |
| Vacuum Gripper | Vacuum gripper | Pressure control |
| Magnetic Gripper | Magnetic gripper | Current control |
Configuration Parameters
Grasping Parameters
| Parameter | Description | Default Value |
|---|---|---|
pre_grasp_height | Pre-grasp height | 0.1 m |
grasp_force | Grasping force | 10.0 N |
lift_height | Lift height | 0.1 m |
place_tolerance | Placement tolerance | 0.01 m |
Gripper Parameters
| Parameter | Description | Default Value |
|---|---|---|
gripper_open_position | Gripper open position | 0.1 m |
gripper_close_position | Gripper close position | 0.0 m |
gripper_max_force | Gripper maximum force | 50.0 N |
Customizing Pick and Place
Modify Object Position
Modify Target Position
Add Multiple Objects
Common Issues
Q: Gripper cannot grasp the object
A: Check if the gripper position is properly aligned with the object position. Adjust the grasp_force parameter to increase grasping force.
Q: Object falls during movement
A: Increase the grasp_force parameter value, or check if the gripper is properly closed.
Q: Robot cannot reach target position
A: Ensure the target position is within the robot's workspace. If the target position is outside the workspace, the robot will not be able to reach it.