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Challenge will be Wednesday afternoon, 5/16

• Main website: http://mobilemanipulationchallenge.org/
• Willow's Sushi code: http://kforge.ros.org/Sushi/trac
• Hackathon code: http://kforge.ros.org/projects/pr2_workshop/ (Only John and Lorenzo have access)

Let's periodically check the various repos for updates, especially the Willow repos.

Timeline

4/15 - 4/21

4/22 - 4/28

4/29 - 5/5

5/6 - 5/12

Tasks

Preliminary tasks: get all the basic stuff working in Berkeley

• re-mount Kinect and make sure it's calibrated properly
• map out SDH7
• make sure that tabletop manipulation stacks work

Manipulation problems

• Pick up plates
• Pick up forks and spoons
• Set a place somewhere on a table
• Pick sushi plates off spinning table

Perception problems

• Find all objects on a table / check that a table is clear
• Track objects on spinning table
• Detection and pose estimation of transparent glass

Outline from meeting

Drive to set

• Exists

Detect objects

• Exists?

While set is not clean:

• Condition: objects exist on set

1. Pick up object

• Exists

2. Drive to dirty

• Exists

3. Put object down

• Exists
• Drop? Low-impedance controller?

Drive to shelf

• Exists

Find objects on shelf

• Does not exist?

While set not complete:

• Condition: ?

1. Choose object

• Does not exist

2. Pick up object from shelf

• Exists

3. Drive to set

• Exists

4. Put object down

• Exists

5. Drive to shelf

• Exists