We have beerage.
Michael Wimble
We have beerage! Woot! Can world domination be far behind?
It is not finished, but it's a huge effort to get here and now I can start working on improvement. First you get the bear to dance at all, then you get the bear to learn Mambo #5.
Let me tell you what is going on.
The robot wakes up, puts the gripper in the home position, makes a few safety checks, then looks to see if it can see the soda can with the OAKD camera. That camera is a black box near the top of the silver pole, pointed down from the front of the pole (as opposed to the black object at the very top of the pole and the plastic housing holding everything at the top of the pole).
In this case, it sees the can right away (it can find it if it doesn't see it, but that's not what I'm testing here). It moves toward the can and makes a bit of a rotation so the can is nearer to a line right in front of the robot.
Then it needs to raise the arm up to a position where it can grasp the can. That's the horrible grinding you hear. That's another story and I'll fix that soon.
Once up at the proper height, the robot rotates again so that the can would be right between the jaws of the gripper when it opens.
Then it opens the gripper and extends the arm to the can. It's a bit of over extension, which I also will fix soon.
Then it closes the gripper around the can. Then it raises the can off from the table so it won't drag the can across the table top.
Then it retracts the arm and lowers the can towards the bottom of the pole so that the can is in a safer position for traveling.
Finally, it backs away from the table a little bit to make it safer to begin traveling back to me to hand me the can.
Sure, there are improvements to be made. And I didn't demonstrate the wrapper bit where it starts near me, goes to another room to find the can and brings it back to me. Those parts were already working so I didn't test them again now.
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camp .
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