Over spring break we were able to finish most of our baseline motion planning module. Our current system is capable of accepting perception data and generating motion plans for the arm to follow. Our focus is now shifted onto optimizing this implementation and porting it onto the FPGA.
During our lecture times, we focused on integration, getting our environments set up and able to communicate with each other. With perception and motion planning substantially underway, all that’s left is inverse kinematics and system integration. These will be our main focus as we approach the interm demo. Our goal is to have the full system functioning in some capacity by this point.