Picking from feeder

[ZdenekM]

• art_projected_gui
  • [x] selection of object type
  • [x] button for activation of arm interactive mode -> move arm automatically in front of user and then switch the interactive mode on)
  • [ ] visualize feeder / direction of feeder somehow?
• art_brain
  • [ ] open gripper in learning phase
  • [ ] check/test state_pick_from_feeder
• object detection + tracking
  • [ ] detectors should publish detections in camera frame_id with RPY 0/90/180/270 degrees
  • [ ] tracker should do weighted averaging (or better - kalman filtering?) based on distance from camera to object (closer = better detection)
  • https://github.com/pykalman/pykalman
  • http://campar.in.tum.de/Chair/KalmanFilter
  • [ ] use AR code bundle on both ends of al. profiles?
  • [ ] object detector using PR2 forearm cameras
• art_pr2_grasping:
  • [ ] prepare to pregrasp pose (pose in ProgramItem with -0.2m in x-axis of end eff)
  • [ ] wait for detection, get object ID
  • [ ] add object to collision map
  • [ ] open gripper
  • [ ] move to pregrasp pose based on detected pose
  • [ ] cartesian movement to grasp pose
  • [ ] close gripper, check its state, attach collision object
  • [ ] move upward
  • [ ] move out of feeder