Post 11:  End-effector Poses

Our first action is grabbing something securely, in this case a water bottle. It is of similar size and shape of many things in the kitchen (such as a bottle of condiments), and is useful since our project requires grabbing and retrieving stuff from the kitchen and making sure it doesn't fall after we have grabbed it. We demonstrate moving the robot manually and save the poses along the way using the subscriber and publisher patter in our script. And we can use another script to replay the poses.

Our second action is picking something up securely. This is useful since picking something up is the second step in moving something after you securely grab it, which is necessary when moving things around. We also do this securely, which is important since we don't want to drop things on the ground. We demonstrate moving the robot manually and save the poses along the way using the subscriber and publisher patter in our script. And we can use another script to replay the poses.