Need to figure what that brain is. Probably subscribes and publishes to a bunch of queues to give and receive information.

This module is meant to run the robot's mechanical components.

• Validate move X will turn some angle when not using PID... which is strange.... pid controler related perhaps.
• Finish working on the IK testing
• Make the robot arm position a "set point" and every X time, resynch to the set point... so MQTT would just "set the point". (maybe lower wiggle?)

• Need to move some of this in the parent project
• Motion Feedback (via mqtt pubsub reversed so the client knows the bot is in place)
• Error Handling to MQTT error queue (in custom error handlers)
• Go to home position (avoiding obstacles)
• Follow Tracked Object?...
• Build architecture with IOT Hub for deployment/management and collection of events, BrainWave for inferencing
  • Events are : position, movement orders, inferencing output
• IOT Edge Connection and streaming of events :
  • Error Handling
  • Motion commands
  • Pick commands
  • Objects seen
  • Wrongfully picked object - will go to a DNN training feedback loop (create new training examples)

• Find Object
• Track Object
  • Detect Object
  • Track it
• Follow Tracked Object
  • Keep tracked object in field of view
    • Loop
      • If drifting to the left, turn + phi by a few deg, if drift to right, thrn - phi).
      • Advance towards object /bot/base/move/forward for 1-2 seconds, then reloop until distance to object is within ~10-20cm
    • fixed distance if static configuration, using /bot/base/move/XYphi)
• Pick Object with end effector /bot/pickObject
  • Move base to standoff
  • Run inverse kinatics to find the exact position... to run next step
  • move to object
  • pick object (close gripper)
  • move back above in standoff
  • await further instructions
  • Drop object (open gripper /bot/gripper/open)
  • Go back to home position
  • For each pair of main steps :
    • Generate list of detailed robot configuration (number of position per step TBD, will do trial and error)
    • For each robot config step, move joints and wheels to position (or use velocities) to next configuration (end effector + mobile base)

• Need to create a container to run demo python code to validate it can receive code and utilize Azure to do TTS. See containers offered on prem to see if one works on a PI or Jetson.

• Need to test Azure STT.

• Need to test LUIS and LUIS in a container.

• TBD - add personnality module