Assumptions: There are as few assumptions as possible regarding the learning module sequencing. It is good to know linux and have access to a Linux+ROS installation, as well as comfort with python. In general, anyone choosing to learn robotics is going to have to be comfortable in at least two programming languages (typicall C++ and python), which includes knowing or being open to learning the rich set of libraries associated to- and extending- these languages. Less familiarity and confidence with the above means that you should work through the modules when it is possible to ask someone experienced for help should you get stuck.

Philosophy: The intent is to get you working with manipulation as fast as possible, but not necessarily to teach manipulation. The modules should be complemented with outside learning or with course material if you truly wish to learn what is involved and how to maximally exploit or extend the linked code. The premise is that you will make an effort to understand what is involved in each Learning Module, but not necessarily master on the first pass. As you proceed through the Learning Modules, you will need to improve your understanding-and mastery-of the earlier modules. You should go back and review to better understand them.

Companion Code: Should be linked as needed in the learning module text.

A basic setup for manipulation involves a robot arm, a surface, and an RGB-D sensor (color+depth). The availability of range or depth data resolves one of the main problems associated with manipulation, which is the recovery of world and object geometry from a visual stream. A single arm also limits what can be done to relatively simple manipulation tasks. The following series of learning modules should get you up to speed with basic robot arms, how visual sensing helps, and how to plan manipulation tasks.

Module Set 1: Setup and Moving the Hand to Grasp

1. First make sure that Gazebo+ROS are installed and up and running.
2. Understand for the most part the ROS Beginner Tutorials 1-8.
3. Understand what role Gazebo plays regarding simulating robots.
4. We first start with the PR2 robot, so make sure you all associated packages installed for the robot.
5. Work out the Introductory Tutorials, though it might be possible to skip Tutorial 1.3 (PR2 Simulator Workshop).
6. Get user-guided movement using MoveIt! Option 1 and Option 2.

At the conclusion, you should be able to get the PR2 arm to move wherever you specify it should using MoveIt!. MoveIt! is a GUI front-end for OMPL. This sets up the basic elements associated with a robotic arm and configures it to execute plans that move the end-effector (i.e., the hand) from one $SE(3)$ configuration to another.

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