CS 5970-002: Main Class Project
Our class goal is to develop a planning and control approach that will
enable a simulated PR2 robot to cook a meal from an arbitrary recipe.
- The recipe is a written text document that describes the
items, the quantities and the steps that must be performed (note
that it may only specify a partial ordering). We
can assume that the text document is structured in some
- Items to be used in the recipe (both tools and consumables)
may be located arbitrarily. Again, this can be structured like
our human kitchens (for example, the "spices" may be located on a
single shelf, but may not have a fixed location). We can
assume some simple scheme for uniquely identifying items.
- Items may be stored on shelves, in cupboards, in drawers or in refrigerators.
- Cooking units include stoves and ovens.
- The robot should be physically capable of:
- Finding and retrieving items.
- Measuring quantities.
- Pouring items from one container to another.
- Mixing items in a container (a bowl) with a spoon.
- Placing/removing containers or other large items on/from
- The robot should clean up after completing the recipe.
- Time matters.
- Consumables will be modeled using one or a small number of
cubes or spheres.
The grading details are available in the syllabus.
Possible milestones include:
- Drive to a location on the map.
- Reach to grasp a simple object in the workspace.
- Drive to grasp object.
- Bimanual grasping.
- Open a drawer or a door.
- Pour items from one container to another.
- Measure items.
- Place held item onto surface.
- Translate recipe into a partial plan.
- Translate a partial plan and the current state of the world
into an action plan.
- In large part, we will be implementing in C++ (though some
python is possible and allowed).
- Documentation will be done using doxygen
- See the syllabus for
details on expectations for proper academic conduct (including
use of the code of others).
- Grading of a component will be triggered by a
presentation/demonstration of the component in class. Only
code submitted to the subversion tree will
fagg [[at]] cs.ou.edu
Last modified: Mon Jan 16 23:48:55 2012