Clone this repo into a catkin_ws that also has the packages necessary to run the BWI ArmBot.
roslaunch tic_tac_toe play_game.launch
Interaction Manager: Orchestrates the game interaction. This includes start and end behavior, as well as keeping track of turn taking, and deciding on actions
Action Executor: Controls the motion of the arm
Game State Detector: Extracts the game state from the robot's vision
Arm coordinates (starting at top left, from robot's perspective, going left to right, top to bottom):
position 0 :
x: 0.426824212074
y: 0.284858942032
z: 0.0402360036969
orientation:
x: -0.0495440475643
y: -0.9955971241
z: -0.0676593929529
w: -0.0418801791966
position 1:
x: 0.427185595036
y: 0.179492980242
z: 0.0362501107156
orientation:
x: -0.0409061983228
y: -0.998338639736
z: -0.00312207173556
w: 0.0404587648809
position 2:
x: 0.431104779243
y: 0.0673867613077
z: 0.022669646889
orientation:
x: -0.0227509662509
y: -0.997758924961
z: -0.0346958227456
w: 0.0524955913424
position 3:
x: 0.323083162308
y: 0.290391534567
z: 0.0327621549368
orientation:
x: -0.0466325692832
y: -0.998385667801
z: -0.0323525331914
w: 0.00221162941307
position 4:
x: 0.314559876919
y: 0.182191491127
z: 0.0249998774379
orientation:
x: -0.0345241464674
y: -0.999021053314
z: -0.0276549495757
w: -0.000544465205166
position 5:
x: 0.304246366024
y: 0.0765624493361
z: 0.0174890849739
orientation:
x: -0.0159492921084
y: -0.999459207058
z: -0.00590369151905
w: -0.0281426385045
position 6:
x: 0.207779467106
y: 0.295100569725
z: 0.0326444283128
orientation:
x: -0.0451364554465
y: -0.997986733913
z: -0.0272142477334
w: -0.0352782607079
position 7:
x: 0.195141017437
y: 0.187146872282
z: 0.0303510185331
orientation:
x: -0.0113975815475
y: -0.999932646751
z: -0.00210533523932
w: 0.000616318488028
position 8:
x: 0.201366573572
y: 0.0808693170547
z: 0.0229740720242
orientation:
x: -0.0264183524996
y: -0.997659921646
z: -0.0139531157911
w: 0.0614984557033
position HOME:
x: 0.295476645231
y: -0.126079112291
z: 0.700369296074
orientation:
x: 0.0154021102935
y: -0.999735891819
z: 0.00489564239979
w: -0.0163363721222
position Scratch chin:
x: -0.121613927186
y: 0.15239700675
z: 0.586950242519
orientation:
x: 0.552960515022
y: -0.396972090006
z: 0.234359323978
w: 0.694063067436
position Incremental Home:
x: 0.311155617237
y: 0.189424604177
z: 0.213762119412
orientation:
x: 0.665959119797
y: -0.745930075645
z: 0.00926198810339
w: 0.0010175104253
position Incremental first quad:
x: 0.359608054161
y: 0.243571102619
z: 0.0770178735256
orientation:
x: -0.996901810169
y: 0.0625432953238
z: -0.0410128049552
w: 0.0243524741381
position Incremental second quad:
x: 0.354002892971
y: 0.143095493317
z: 0.0753956288099
orientation:
x: -0.998840987682
y: 0.0366943664849
z: -0.0288470163941
w: 0.0117430668324
position Incremental third quad:
x: 0.354002892971
y: 0.143095493317
z: 0.0753956288099
orientation:
x: -0.998840987682
y: 0.0366943664849
z: -0.0288470163941
w: 0.0117430668324
position Incremental fourth quad:
x: 0.259484708309
y: 0.143753558397
z: 0.0591824762523
orientation:
x: 0.995885074139
y: -0.0568450242281
z: 0.0699009969831
w: 0.00976687949151
position Exaggerated:
x: 0.311155617237
y: 0.189424604177
z: 0.213762119412
orientation:
x: 0.665959119797
y: -0.745930075645
z: 0.00926198810339
w: 0.0010175104253
position Tap fingers:
x: 0.404385447502
y: -0.218024283648
z: 0.0239445753396
orientation:
x: 0.818471372128
y: -0.05943377316
z: 0.571143269539
w: -0.0191759094596
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