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thatprogrammer1 / stacking-robot

6.421 final project
MIT License
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Add logic for choosing where to place #3

Closed thatprogrammer1 closed 1 year ago

thatprogrammer1 commented 1 year ago

lol i meant to include the last commit but it is so easy to forget to git checkout after git branch (maybe i should just switch to git checkout -b)

anyway our tentative plan for how to place blocks is:

  1. have designated cylinder for where we are stacking things
  2. center COM of block with center of cylinder
  3. plan place pose (wow! alliteration!) to be at the highest point of the stack
  4. possible use some kind of force control to actually do the descent of the place? or perhaps we can just calculate the offset of the block very precisely

this PR should implement a first pass at 1 and 3.

thatprogrammer1 commented 1 year ago

meh good enough for now