Users Manual

x
z
outer_dimensions.x
inner_dimensions.x
inner_dimensions.y
outer_dimensions.y
inner_dimensions.z
outer_dimensions.z
y
z
rim_thickness.y
rim_thickness.x
x
y
Fig. 7.4.1: Load carrier models and reference frame.
The user can optionally specify a prior for the load carrier pose. The detected load carrier pose is guaranteed
to have the minimum rotation with respect to the load carrier prior pose. If no prior is specified, the algorithm
searches for a load carrier whose floor is perpendicular to the estimated gravity vector.
The components can persistently store up to 10 different load carrier models, each one identified by a different id.
The configuration of a load carrier model is normally performed offline (e.g. on the ItemPick or BoxPick page of
the rc_visard Web GUI), during the set up the desired application.
Note: As opposed to the component parameters, the configured load carrier models are persistent even over
firmware updates and rollbacks.
The modules enable the computation of grasps for a specific volume of the load carrier
(load
_
carrier
_
compartment). The compartment is a box whose pose is defined with respect to the
load carrier reference frame.
x
y
z
compartment.box.y
compartment.box.x
compartment.box.z
Fig. 7.4.2: Compartment inside a load carrier.
7.4. ItemPick and BoxPick 85