Testing: approach table -> rotate -> detect bottle -> grab it

Progress:

• grab the bottle and lift it a little
• move forward and rotates to detect the glass (use the front camera)
• move around the glass until it is in the desired spot (use the front camera)
• lift the bottle and pour liquid into the first glass
• lift a little bit more and pour liquid into the second glass
• descend and then let go of the bottle

Below is a video that shows how the robot approaches the table by respecting a certain distance, rotates around it and stops when it encounters the bottle within the center of the image.After front facing the bottle it goes forward until the bottle is detected, rotates until it is in the center of the image, and grabs it.

Testing: approach table -> rotate -> detect bottle

Lately, we've made a few adjustments to our design, i.e., we added a side camera and changed the capture angle for the front camera (it is now way above the gripper).

As for the implementation, we switched to colour detection for the bottle due to various reasons.

Progress:

• rotate around the table and scan the table for the bottle
•  set the bottle to the centre of the image and prepare the robot's position for when approaching the bottle (use the side camera)
•  get close to the bottle and center it. This is crucial to grabbing the bottle with the gripper (use the front camera)

Below is a video that shows how the robot approaches the table by respecting a certain distance, rotates around it and stops when it encounters the bottle within the centre of the image. It then turns around, backs off, and drives back, this time front facing the bottle. The reason for doing so is that otherwise, the robot might hit the bottle with its gripper.

 Side note: a more complex video is on its way... In the meantime, enjoy the more artistic side of BarRD: