ToastBot Project Post

content/posts/toastbot/index.md

@@ -10,21 +10,32 @@ menu:
     name: Toastbot
     identifier: ToastBot
     weight: 2
-tags: ["Python", "ROS", "Moveit API", "Intel Realsense"]
+tags: ["Python", "ROS", "RViz", "Moveit API", "Intel Realsense"]
 # categories: ["Basic"]
 ---
 
 Using a 7-DoF Franka Emika Panda Robot Arm, we developed a pick and place sequence using an Intel Realsense camera for identifying april tags.
 
-<!-- Embed this youtube video: https://www.youtube.com/watch?v=XGcdhWRo-iU&t=1s -->
 <div align="center">
     <iframe width="560" height="315" src="https://www.youtube.com/embed/XGcdhWRo-iU" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
 </div>
 
+## Robot Arm Control
+The Franka Emika Panda Robot Arm has a ROS package `franka_ros` which allows us to control the robot arm using the Moveit API. 
+The Moveit API offers services and action servers to faciliate trajectory planning, end-effector operation, and motion profiling. 
+
+Prior to the start of the project, we developed our own API that offered higher level tasks such as pose-to-pose motions, end-effector operations, and cartesian path planning.
+This API enabled a ROS node to be connected to the MoveIt API and send motion requests. 
+
 ## Computer Vision
-The Intel Realsense camera has a ROS package `realsense` that enables the camera to publish depth and color images. 
+The Intel Realsense D435i camera has a ROS package `realsense` that enables the camera to publish depth and color images. 
 In order to identify april tags, we used the `apriltag_ros` package which subscribes to the camera images and publishes the detected tags which each
 have a unique ID. The tags were used to locate the positions of objects in the scene as well as localize the camera frame from the robot's base frame.
 
-## Robot Arm Control
-The Franka Emika Panda Robot Arm has a ROS package `franka_ros` which allows us to control the robot arm using the Moveit API. The Moveit API offers services and action servers to faciliate trajectory planning, end-effector operation, and motion profiling. On top of the Moveit API, we developed our own Motion Planner that offers higher level tasks such as pose-to-pose motions, end-effector operations, and cartesian path planning.
+## Scene planning
+The scene around the robot was carefully planned to ensure every object that the robot needed to interact with was within its workspace.
+Planning was done by hand and with simulation (RViz) to explore the robot's workspace.
+
+<div align="center">
+    <img src="toastbot_rviz.jpg" alt="ToastBot in RViz" style="border-radius: 15px;">
+</div>

data/en/sections/projects.yaml

@@ -37,7 +37,7 @@ projects:
   repo: https://github.com/snydergi/ToastBot
   url: "/posts/toastbot/"
   summary: A system that toasts bread using a Franka Emika Panda robot arm and an Intel Realsense Camera.
-  tags: ["Python", "ROS", "Moveit API", "Intel Realsense"]
+  tags: ["Python", "ROS", "RViz", "Moveit API", "Intel Realsense"]
 
 - name: Automated Poker Table
   image: /images/bike_dealer.gif