Pick Place in Harmonic

[javizqh]

No description provided.

[anishk85]

Nice, this looks much cleaner now 👍

I do feel like a few parts are a bit redundant though — I had actually planned to remove those earlier. Once I trim them down, things should get a lot simpler and closer to how I structured it in my forks.

[anishk85]

hey, can someone quickly summarize the next steps and what we’re aiming for here? just want to make sure i’m on the same page before moving ahead

also had a thought on the pick & place — right now we’re using fixed coordinates, but maybe we can make it more robust by using depth (point cloud or depth image), segment the object, find its center, and then plan the arm motion to that pose and execute. feels like that would make things a lot smoother and more flexible

[anishk85]

hi @Jepear19 ,

FYI gripper issue fixed
Screencast from 03-01-2026 07:04:54 PM.webm

i'll put this here soon as i need to once go through all the changes that were made here since my last read will do that shortly the updates were majorly in the urdf files and a litlle change for better grasping in the gz sim system cpp file will do a litlle more testing before pushing final changes

[anishk85]

hi @javizqh ,
as this got merged I was working on the gripper issue i need to update the code so what could be the best ideal way to do that should i create new branch or so.

[javizqh]

Please open another PR