Results

Static Target: The static target was able to be hit within 220 cm. With a bit of tuning, the red and yellow circles of the target could be hit with unerring accuracy. If the target was out of the Baxter's workspace, the robot could tilt the gripper to align the line of fire with the target.

Moving Target: the target could be moved in any direction at a constant velocity and the robot would predict the correct location to place the gun to fire and hit the target.