本文详解OpenArm如何通过RGB-D感知获取物体6D位姿，并利用MoveIt Task Constructor（MTC）实现端到端视觉引导抓取。重点剖析感知层（相机坐标系到位姿输出）、任务规划层（预抓取、抓取、提起、放置的阶段化编排）与执行层（ros2_control对接）的协同机制，强调TF坐标变换、MTC任务回退能力及系统集成关键 ...
To complete this tutorial, you must have set up a workspace that includes MoveIt 2 and its corresponding tutorials. An outline on how to set up such a workspace is ...
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