Week 6 labs

May 2, Tuesday 

This week we focus on robot manipulation.

• Lab 10: Complete the Stretch ROS Tutorial 7: MoveIt! Basics.

  • Update: Do this tutorial in simulation only. Or you can just skip it.

• Lab 11: Go over three basic tutorials on TF/TF2 and transform arithmetic.

• Lab 12: Next you will develop a "Programming by Demonstration" tool for Stretch. 

  • The tool should allow you to save a robot end-effector pose (which you can get the robot to by tele-operating it) and later command the robot to move to a saved pose (which it can achieve using motion planning).

  • You should be able to name a pose when you first save it and see a list of poses to which you can send the robot to.

  • You should be able to set the coordinate frame of a pose to be one of: (i) robot's start pose (i.e., world coordinates), (ii) robot's base, or (iii) an external landmark (i.e., an ArUco marker detected in the environment).

  • You should be able to command the robot with a sequence of poses, where it will go to each pose in order.

  • You can make a command line tool or a web-based tool.

  • You might find this Stretch Forum discussion useful.