Overview
The goal of this project was to have Baxter pick up a nerf gun, locate a cup, and pull the nerf gun trigger to shoot the cup. The project depended heavily on MoveIt for manipulation. See the code in my GitHub repository
Project Video
Action Sequence
- Baxter goes through initial calibration and moves to initial pose.
- Baxter finds the nerf gun using an AprilTag and its left arm camera.
- Baxter moves its left arm to line up with the nerf gun and closes its gripper to pick up the gun.
- Once Baxter has the gun, it uses its left arm camera to find a cup using darknet.
- Baxter keeps moving its left arm until the cup is in the center of the image produced by the camera.
- Baxter moves its right arm to put its grippers around the nerf gun trigger.
- Baxter waits for a user input to confirm the firing of the gun.
- Baxter keeps waiting until the user tells it to fire.
- Baxter pulls the trigger using its right gripper.
- Baxter moves to a final pose after shooting.
ROS Packages
- MoveIt!
- AprilTags
- Darknet YOLO