Take out the garbage

[robertocaiwu]

This issue is created to keep track of the progress towards completing the Take out the garbage task.

Main goal

The robot takes out the trash bags from the two bins in the apartment and move them into a specified collection zone.

To do list:

• Create a state machine for the execution_manager [Define Scenario "Bring out the garbage". #107]
• Component to turn head to a certain point [Create a new LookAtAction #111]
• Perception
  • Recognize if object is a bin [Recognize if object is a bin #112]
  • Recognize if there is a lid on the bin[Recognize if there is a lid on the trash bin #113]
  • Recognize if the bin is empty or not [Recognize the trash bag inside the bin #114]
  • Dectect where to grasp the trash bag from. [Dectect where to grasp the trash bag from #115]
• Manipulation
  • DMP for up and down motion [DMPs for top-down motions #100]
  • How to grasp a trash bag
  • Grasp verification

[alex-mitrevski]

@robertocaiwu Grasp verification can in theory be done (there is code for that in the mas_hsr_gripper_controller package in the mas_hsr repository), but the verification depends on an object-specific threshold. This will thus need some testing.