By now, you have completed the numerical inverse kinematics implementation. In the next subsection, we will add vision feedback and implement vision-aided inverse kinematics. For now, save this Python file as it will be needed for the next part. 2.3 Vision-aided Inverse Kinematics Code Implementation By now and for the previous part, your should have changed the yaml file content to ’position’ mode, if you have not done so, change the robot settings by copying the following to the yaml file as follows: You also have the inverse kinematics script from previous part, which we will use for this part as well. Here, we will use the camera’s feedback to detect objects and estimate those desired poses, and then use the inverse kinematics to move the robot to the position of these objects and pick and place them. 13 Computer Vision News Vision-aided Screw Theory-based…
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