Post 17: Progress update #B

Tony: During week 8, I finished post 11, enabling us to save poses on the robot and replay them. Some poses I saved include grabbing objects as well as retrieving objects, which is useful since that is a big premise of our project. The next steps involve figuring out the poses needed to grab objects with the new gripper, and how to combine that with visual information from the camera.
Link to code: https://drive.google.com/file/d/1x3LusiUA_p1FWIPFF7pk_wobYp6ftGfu/view?usp=sharing
https://drive.google.com/file/d/1_hEm1i56dABkGHL8Egtdski0V3myNMow/view?usp=drive_link

Diana: During Week 8, I worked on Post 14 and the hardware. I stored the robot's position on the map and aligned it with the ArUco marker, but I haven’t been able to replay the poses yet. The poses include the three key locations in our project: the initial pose, the table, and the ArUco marker. Going forward, I need to properly implement pose replaying and integrate object detection, marker alignment, and navigation. It has been difficult to grasp the kitchen utensils used in our project(knife, fork, and bowl) with the current gripper. So, I designed and 3D printed an auxiliary tool for the gripper. This tool works quite well for both small, thin objects like knives and forks, and larger objects like bowls.