---
title: 09/13/21
tags: meeting-notes
---
### Monday, 09/13/21

### Discussion

#### General
#### Software

- Camera position
- Decided on camera being external to robot arm (Eye-to-hand configuration)
- TODO: Use apriltags to determine where the camera is relative to the robot
- Grasping
- TODO: First, try to see how close we can get to a chess piece using just depth and IK
- TODO: Use visual servoing techniques for final error correction to get end effector in grasping range

- New features
- Maybe add error reset if the arm drops a chess piece or makes an error
- TODO: Code for actually grasping the chess piece

- Chessboard detection
- Apriltags to localize board.
- Given that we can determine 3D position of each chess piece using the depth camera, we can create an algo that can map the 3D positions direction to FEN format that we can then feed into a chess engine

#### Hardware
- TODO: Designing a tooltip for grasping a chess piece adapted from past gripper design and tooltip attachment on current Protoarm CAD

### Action Items

#### General
- [**Action Items from last time, ensure these are done**](https://hackmd.io/2_lwc1wrT0-b6MZaNniqtA?both=#Action-Items)

#### Software
- Finish action items from last time (linked above)
- Add your name under a TODO if you want to get started working on stuff (refer to the GitHub for updated state of things)
#### Hardware

### Future Discussion

#### General
#### Software
- Potential plan for grasping with more autonomy
- Camera in hand or external?
- camera external
- Chessboard detection - Current best approach?
- Chess Piece Detection - Is the current model good enough?
- ROS workshop?
- Getting access to real robot arm + chess set to play with (in BIDC)
- Next week or two

#### Hardware