Project 5

Disclaimer

Please DO NOT distribute project material or solutions online (e.g. public GitHub repositories). We take violations of the honor code very seriously.

Overview

For this assignment, you will implement mobile manipulation using concepts you have learned and implemented in the previous sections: finite state machine, inverse kinematics, and rrt connect.

• Mobile manipulation in kineval/kineval_mobile_manipulation.js

Instructions

1. Start with your solutions to project 4
   • Solutions to project 4 will be released on 11/17/2023 (Fri), 2 days after project 4 is due. You can also start from here.
   • You must download 4 updated files to add support for mobile manipulation: home.html, kineval/kineval.js, kineval/kineval_mobile_manipulate.js, and worlds/world_mobile_manipulate.js Download
     • After you update these files, you should see the red cube and blue goal bubble at http://localhost:8000/home.html?world=worlds/world_mobile_manipulate.js.

2. Finite State Machine Controller

   • kineval.robotMobileManipulateIterate() in kineval/kineval_mobile_manipulate.js is the only function you need to implement for this project.
     • This function is called every iteration of the simulation.
     • This function contains boilerplate code for recommended state definitions.
     • You should implement the contents of each state branch and transitions.
     • Whenever the configuration of the robot changes, this function should return the configuration as an array.
       • These configurations along with the state of the object will be used in the autograder.
   • The entire process is as follows:
     • Move near the cube using RRT connect in kineval/kineval_rrt_connect.js.
     • Move end effector onto the cube using inverse kinematics kineval/kineval_inverse_kinematics.js.
     • Grasp the cube using kineval.graspObject() in kineval/kineval.js.
     • Move near the goal bubble using RRT connect.
     • Move end effector onto the goal bubble using inverse kinematics.
     • Release the cube using kineval.releaseObject() in kineval/kineval.js.

3. RRT Connect

   • You will use RRT connect to move the robot to a configuration where it can pick up/release the object.

   • Initialize, iterate, and traverse RRT connect in the corresponding states in kineval.robotMobileManipulateIterate().

     • To initialize, copy and modify from kineval.robotRRTPlannerInit().
     • To iterate, call robot_rrt_planner_iterate().
     • To traverse, copy and modify from kineval.planMotionRRTConnect()
     • Make sure you remove your trees and motion plans after you are done traversing the motion plan.
     • Determine the goal configuration using any heuristic you want (for example, on the object).

4. Inverse Kinematics

   • You will use inverse kinematics to move the end effector to the object and the goal bubble.
     • Look at kineval.randomizeIKtrial() for setting and checking the goal pose.
     • Call kineval.iterateIK to move .
5. Submit your kineval/kineval_mobile_manipulate.js and kineval/kineval_rrt_connect
   • The autograder is still under construction and will be available 11/20 (Mon).

Deadline

This project is due on Wednesday, November 29th at 11:59pm CT.

Grading

The project is worth a total of 12 points.