使用两个橡木果品牌的Tac3D型号触觉传感器和一个夹爪，夹取一个轴，并估计轴的3D姿态。夹取后，用手拨动轴的姿态，也可以实时估计，并可视化显示。现在的核心方法是PCA，也就是求点云的最大特征值对应的特征向量的方向，后续会继续改进。
☆21Jun 13, 2026Updated last month
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