1. Progress Review

2. Software Integration
SMACH - python library used for building state machines
Got the SMACH viewer working
Setup Kinect working with imported data in SMACH
Made PR2 arm move from one pose to another using inverse kinematics

4. Suction Fabricated gripper for PR2 Pseudo demo of suction gripper
Successfully acquired (more than) 7 items

5. Tele-op
Tele-operated PR2 using PS3 controller of arm, base, head, body, torso

6. Vision Familiarization with Point Cloud Library
Shelf contents
Vision
Capture Kinect 2.0 RGBD data
Familiarization with Point Cloud Library
Researched robust methods of item recognition
Determined item recognition pipeline
Implemented color based segmentation and clustering
Filter shelf from depth cloud
Color based segmentation
Clustering segments to find items
Target item identification
Target item pose estimation

7. Color Based Segmentation
Segment image using color and depth data
Combine segments to predict item location assuming horizontal workspace

8. Vision Object Detection from Point Cloud Data
Matching corresponding features estimating homography

9. Plan of Action Suction Perception Platform
Find impeller system to use in final build (Rick)
Iterate upon prototype suction gripper with focus on build quality (Alex)
Design of Electronics for suction Gripper (Feroze, Abhishek)
Perception
Design algorithm to filter out shelf from depth data
Incorporate shelf content knowledge into color based clustering
Platform
Command the arm inside the state controller (Feroze)
Move actual PR2 arm using Inverse Kinematics action (Feroze)
Programmatically command the base to move in simulation (Abhishek)
Understand tf transform tree (Alex)