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LEARN.md

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To complete this project, I did the following:

  1. Prepare the manipulator's description:

    • Main URDF for the manipulator's arm
    • Custom End Effictor URDF
    • Manipulator's URDF that includes the former two
    • Added plugins for Gazebo and ros-control to be able to simulate and control the manipulator

  2. Prepare the controllers config file:

    • JointStateBroadcaster
    • JointTrajectoryController with position command interface

  3. Create the launch files:

    • Launch Gazebo with the custom world I created that includes a chessboard
    • spawn the manipulator
    • spwn the controller and broadcaster

  4. Some utils:

    • Create a class for the manipulator
    • Define a class's method to convert a path (end effector) to joint angles
    • Define a class's method to exectute to plan a path from one position to another and execute it (publish to the control topics)

  5. Control the manipulator to play chess !!

    • Create a python file and define some movements like go to the first peace and move it and so on.
    • TODO: integrate stockfish to let it decide what to play