Assignment 8

Post 17: Project Progress Update

In the past week, we've made progress across several aspects of the course and our project.

Simran and Andrew were able to run our week 5 labs' programming by demonstration scripts under the context of our project. In prior weeks, we were having several issues with it across debugging and connecting to the Stretch Teleoperation Interface. Click here for the video!

Heer and Afifah created our ROS-level system diagram, detailed in assignment 6. It was made with considerations from team conversations with Michael, and we also discussed the final version with Daphne to collect any feedback she had. Heer also completed assignment 7 and relayed the theme of user-in-the-loop robot autonomy to the team as we move forward with project implementation. Afifah completed assignment 5's perception plans in collaboration with the team and each ROS node's main implementation lead.

We are close to wrapping up the week 6 navigation program lab, and all members have contributed towards it. We've been booking robot times frequently throughout the quarter to ensure that all labs that cannot get completed within the allotted class time (due to the team-to-robot ratio) are taken care of after class time. We have completed the command line program, and will run and test it on Tuesday, May 27, as we didn't get our robot turn before the last class ended. 

Overall, week 5's programming by demonstration and week 6's navigation program are very applicable to our final implementation goals. As such, we will integrate as much as we can from previous labs for our project. Same goes for our HTML/CSS GUI code, much of it will be re-usable, as we plan to have human-involvement across different parts of the ointment application task. Plans for week 9:

• Write video script (Heer & Afifah)

• Schedule week 10 evaluation times with CNA (Heer)

• Implement Ointment application node (Andrew)

• Implement arm movement node (Afifah)

• Implement start and stop node (Heer)

• Implement the GUI (Simran)
  
  Note: We are aware many of these updates are related to catching up from previous labs. 3/4 members of the team were experiencing sickness during week 8, so we ensured that they could also get the rest they needed. For workload balance, we have a system in-place where members are tackling tasks aligned closest to the team roles we decided on for assignment 2. However, when things become tricky, everyone steps in to help resolve issues (e.g. for week 5's programming by demonstration labs, all team members were involved with getting the scripts to work and filming a video inline with our revised project ideas.)