Legend:- [x] - Finsihed [-] - Partially finished [] - Planned but not taken up yet
High level Plan (High level Milstones):-
- Play around with isolated parts of the project and figure out how the project can be accomplished - 5d -21/11 to 25/11
- Integrate isolated parts and have atleast a very simple and basic version of the problem running - 3d - 26/11 to 29/12
- [-] Refine and improve and adapt it to fit the whole problem - 5d - 30/12 to 4/12
- [] Make it robust and thorough test the system - 3d - 5/12 to 7/12
- [] Buffer - 2d - 7/12 to 8/12
- [] Finish Report - 3d - 9/12 to 11/12
Task deliverables for Milestone-1 (21/11 to 25/11):-
- Senthil - Get communication with camera up and running and come up with a very clear computer vision plan for the system. Explore all baxter camera apis avaible in baxters.
- Marcel - Read up on force control, find out topics in RoS for force controls, check these on real baxter gripping and pushing blocks. The robot should be able to pick up and grip megablocks from hardcoded locations by the end of this milestone
- Luxi - Read up on trajectory generation, Show the robot following a hardcoded trajectory.
- Allie - Setup the simulation world in gazebo Check on collision properties and how it affects the grippers. Setup up small scripts automating redundant tasks
- All - Go through all of baxter turtorials
Task deliverables for Milestone-1 (26/11 to 29/11):-
- Allie and Luxi - Write node / nodes for trajectory planning and execution
- Marcel - Write a node for gripper control and pushing down blocks for clippping against blocks
- Senthil - Write a node for computer vision. The camera should be both intrinsically and extrinsically calibrated and blocks should be detected and the location and orientation (x,y, theta) of the block should be given out by the node
- All - Integrate all code and get a simple version of the whole project running.
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