Repo for yoga baxter project
Meeting with Isabella Goal: use baxter to move a mannequin into a pose First milestone is something knocking into a mannequin Might need to use bullet simulator for contact physics. Maybe don’t use gazebo. Gazebo does support bullet. Have multiple benchmarks so we can make the project harder. First priority is getting path planning working because it’s the hardest. Don’t worry about pose detection of human pose. Could get fancy with camera translating your pose from a real-world camera.
Goal: group of robots slamming together. Centralized brain. Just like midterm problem. Have it work for random map, random targets, random starting points for robots Can add more rules to make it harder.
Go look for libraries and ideas for each project to narrow it down. What do we want the robots to do? Wha
Start with rigid elbows: straight arms. Try to correct T and I poses to Y pose. Mannequin is basically a robot, but we don’t have motors in the joints. So it’s kinematics but Baxter is the motors. Talk more on thursday or wednesday. Thursday 5-7. Goal is to finish/understand lab 5 Look into mannequin Find the right pathing algorithm (moveit) Copy and paste necessary code to new project (make Repo) Meeting with Ritika: Start with Aruco tags Place things in front of Baxter How do we put Aruco tags in the Gazebo sim? https://www.youtube.com/watch?v=WDhIaVOUwsk&feature=youtu.be https://answers.ros.org/question/240392/add-ar-tag-in-gazebo/ https://www.theconstructsim.com/create-spawn-humans-gazebo7/ https://github.com/robotology/human-gazebo https://github.com/CMU-Perceptual-Computing-Lab/openpose
Split up into Aruco tags with blocks Human brought in Baxter cameras
Baxter interact with human