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Merge pull request #26 from WATonomous/mark/micro-quest-spring-25
S25 Micro Quests
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‎pages/quest_books/s25_humanoid_quests.md‎

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# Humanoid Quest Book
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These are the objectives for the Spring/Summer 2025 term. Blog posts / documention should be added for each component, giving a **+2** to the section.
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## Software
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### Simulation
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| Score | Description |
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| --- | --- |
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| 20/20 | Full system completed: Sensor Imitation, URDF Automation, Inverse Kinematics / PID Control, and initial Reinforcement Learning (RL) development. |
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| 17/20 | All components complete except initial RL development. |
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| 15/20 | Sensor Imitation, URDF Automation, and Inverse Kinematics / PID Control implemented; minor integration issues remain. |
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| 10/20 | Sensor Imitation and URDF Automation complete, but no control components working yet. |
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| 5/20| One or two major components completed; others in development. |
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| 3/20| System partially started; most tasks still in development. |
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| 0/20 | No visible progress made. |
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### Behaviour
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| Score /25 | Criteria |
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| --- | --- |
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| +10 | Movement API for Physical system
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| | 5/5 Movement API with teleop and VR control implemented
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| | 4/5 Movement API with teleop control implemented
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| | 1-3/5 Movement API being developed
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| | 0/5 No progress |
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| +5 | Simulation API Integration
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| | 5/5 Movement API is fully compatible with simulation
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| | 3/5 Movement API currently being integrated with simulation
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| | 0/5 No progress |
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| +5 | Voxal Grid
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| | 5/5 Implemented, integrated with controller
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| | 3/5 Implemented, controller ingratiation needed
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| | 1-3/5 Development |
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| +5 | System localization / Initialization
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| | 5/5 System implemented for getting initial state of the robot
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| | 3/5 Manual system initialization
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| | 0/5 No progress |
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### Perception
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| Score | Criteria |
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| --- | --- |
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| +5 | Object detection - inital basic object detection with 3D object detections|
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| +5 | Keyboard specific objected detection and localization|
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| +5 | Material Classification - inital development and research |
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| +5 | Publishing filtered RGBD data |
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### Interfacing
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| Score /20 | Criteria |
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| --- | --- |
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| +4 | CAN Package management system developed |
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| +4 | Deployment System built to support system scaling |
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| +4 | Sensor filtering / denoising implement |
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| +4 | SLAM inital research|
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| +4 | Sensor Drivers - Sensor drivers integrated, exposing sensor data to system |
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### Embedded
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| Score | Criteria |
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| --- | --- |
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| +5 | Sensor data collected and sent over CAN |
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| +5 | Finger position data consistently maintained when running |
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| +3 | Embedded devices run tension control loop with current draw feed back |
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| +2 | Flashing STM32 firmware with ESP32 implemented |
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| +3 | Move fingers to set positions via PID controls |
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| +2 | Embedded devices process CAN messages |
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| 0/20 | No progress |
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## Hand
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### Traincar:
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| Criteria /20 | Requirements |
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| --- | --- |
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| +2 | Mechanical (Finger Actuation, Forearm integration/mounting) |
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| +3 | Motor Control (Current Sense, Motor Movement, Magnetic Encoder feedback) |
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| +2 | Communication (I2C, SPI, WIFI, CAN-FD) |
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| 13/20 | Mechanical enclosure for PCB and motors designed & printed |
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| 10/20 | Custom PCB created, ordered, shipped & delivered |
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| 0/20 | No Progress |
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### Mechanical:
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| Criteria /20 | Requirements |
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| --- | --- |
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| 20/20 | Hand is fully integrated into software: URDF Created & CAD lines up w/ real life model |
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| +4 | Hand is fully integrated with Forearm:
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||4/4: Mechanically mounted & wires routed (no pinching!)
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||3/4: Mechanically mounted |
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| +4 | Palm meet all requirements:
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||4/4: Fingers & Thumb are tested & integrated into palm
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||2/4: Palm prototype is manufactured
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||1/4: Palm prototype is designed
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||0/4: No Progress |
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| +4 | Fingers meet all requirements:
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||4/4: Finger is integrated into palm
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||3/4: Finger is tested
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||2/4: Finger prototype is manufactured
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||1/4: Finger prototype is designed
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||0/4: No Progress |
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| +4 | Thumb meet all requirements:
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||4/4: Thumb is integrated into palm
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||3/4: Thumb is tested
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||2/4: Thumb prototype is manufactured
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||1/4: Thumb prototype is designed
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||0/4: No Progress |
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### Sensors:
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| Criteria /10 | Requirements |
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| --- | --- |
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| +4 | Sensors integrated into mechanical design |
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| +4 | Sensors tested & integrated (able to communicate, test rig + procedure setup and used, integrated into traincar) |
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| 2/10 | Sensors purchased |
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| 1/10 | Sensor categories identified & researched |
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| 0/10 | No Progress |
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## Forearm
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| Criteria /40 | Requirements |
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| --- | --- |
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| 40/40 | Forearm ready for Demo (finger & wrist actuation) |
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| 35/40 | Forearm integrated & assembled with Hand |
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| 30/40 | Forearm manufactured & assembled with Traincar |
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| +2 | Wrist motors purchased |
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| +8 | Forearm CAD + URDF Complete |
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| +8 | Wrist CAD + URDF Complete |
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| 2/50 | Design requirements & constraints specified (rated load, material/manufacturing method, DoF) |
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| 0/50 | No Progress |
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## Arm
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| Criteria /15 | Requirements |
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| --- | --- |
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| +10 | Mechanical meets requirements:
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||10/10 Mechanical Design finished with parts ordered
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||8/10 Mechanical Design finished with final integrations left
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||0-5/10 Mechanical Design in progress |
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| +5 | Motors:
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||5/5 Motors integrated with design
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||3/5 Motors sourced and purchase
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||2/5 Required motor specifications calculated |
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| 0/15 | No progress |
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## Body
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Building out the mount for the arms and the cameras
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### Power Systems
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| Criteria /10 | Requirements |
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| --- | --- |
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| 10/10 | Power system designed and built with interfaces with system components |
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| 7/10 | System design complete, parts purchased and installed |
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| 5/10 | System design complete and part selection complete |
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| 2/10 | System design complete |
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| 0/10 | No progress |
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### Mechanical
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| Criteria /10 | Requirements |
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| --- | --- |
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| 10/10 | Body built with aesthetic design, integrated into system |
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| 7/10 | Body built with mounts for system |
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| 5/10 | Body design complete |
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| 2/10 | Body design in progress |
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| 0/10 | No progress |

‎pages/quest_books/s25_micro_quests.mdx‎

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# Micro Autonomy Quest Book - Spring 2025
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## The Great Objective: Fully Autonomous F1tenth Racing Car with LiDAR and Camera
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Micro Autonomy aims to win the F1teneth Autonomous Racing Competition in the future
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## Term Objectives Summary
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The objectives for this term focuses on integrating the hardware and software stacks. This includes:
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1. **Hardware Setup**
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- Assemble & test everything including Jetson, LiDAR and VESC to work properly and publish ros messages needed for autonomous navigation
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2. **State Estimation**
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- Estimates current position of vehicle against known world map
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2. **Mapping: SLAM**
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- Generate a map in image format and a yaml file for the map specifications based on IMU, encoder and LiDAR specifications on a real world setup
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3. **Planning: Lattice Planner**
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- Static obstacle avoidance support
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4. **Controls: Pure Pursuit**
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- Static obstacle avoidance support
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1. **Hardware Setup**
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| Score | Criteria |
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|-------|-------------------------------------------------------------------------|
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| 10/10 | Setup interfaces for sensors to publish readings and actuators to take ROS topic commands to support autonomous control|
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| 7/10 | Test electronic & tune motor controllers |
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| 5/10 | Assemble all components for F1Tenth Car to start manually controlled movement|
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| 0/10 | No Progress |
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**Minimum Requirements:** Autonomous control ready (10/10)
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2. **State Estimation**
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| Score | Criteria |
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|-------|-------------------------------------------------------------------------|
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| 5/5 | Tuned state estimation position based on IMU, encoder and LiDAR in actual vehicle |
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| 3/5 | Un-tuned state estimation position based on IMU, encoder and LiDAR in actual vehicle |
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| 0/5 | No Progress |
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**Minimum Requirements:** Untuned vehicle estimation (3/5)
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3. **Mapping: SLAM**
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| Score | Criteria |
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|-------|-------------------------------------------------------------------------|
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| 10/10 | High quality map and yaml file generated through state estimation and LiDAR scans on actual vehicle for complex routes|
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| 7/10 | Map and yaml file generated through state estimation and LiDAR scans on actual vehicle for simple routes|
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| 5/10 | Map and yaml file generated through state estimation and LiDAR scanes in simulation |
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| 0/10 | No Progress |
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**Minimum Requirements:** Map and yaml file generated through state estimation and LiDAR scans on actual vehicle for simple routes (7/10)
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4. **Raceline Generation/Optimization**
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| Score | Criteria |
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|-------|-------------------------------------------------------------------------|
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| 10/10 | Optimizes centerline to generate a raceline that minimizes actual lap time based on complex vehicle dynamics |
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| 0/10 | No Progress |
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**Minimum Requirements:** (TBD) No minimum requirements
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5. **Planning: Lattice Planner**
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| Score | Criteria |
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|-------|-------------------------------------------------------------------------|
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| 10/10 | Dynamic obstacle avoidance |
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| 8/10 | Genenerates/optimizes local trajectory based on cost map and vehicle dynamics to achieve static obstalce avoidance on actual vehicle|
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| 5/10 | Generates & optimize a local trajectory for obstacle avoidance static obstacles are on the ideal path |
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| 3/10 | Generates local trajectory by using a cost map to achieve obstacle avoidance when static obstacles are on the ideal path |
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| 0/10 | No Progress |
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**Minimum Requirements:** Real vehicle static obstacle avoidance (8/10)
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6. **Controls: Pure Pursuit**
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| Score | Criteria |
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|-------|-------------------------------------------------------------------------|
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| 10/10 | Tune pure pursuit controller for dynamic obstacle avoidance on actual vehicle |
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| 8/10 | Tune pure pursuit controller for static obstacle avoidance on actual vehicle |
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| 5/10 | Follows local trajectories and ideal velocities smoothly on actual vehicle |
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| 0/10 | No Progress |
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**Minimum Requirements:** Real vehicle static obstacle avoidance (8/10)
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7. **Integration**
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| Score | Criteria |
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|-------|-------------------------------------------------------------------------|
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| 10/10 | Full software integration & hardware interfaces for real life autonomous racing |
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| 8/10 | Full software integration in simulation for autonomous driving, limited hardware interfaces |
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| 0/10 | No progress|
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**Minimum Requirements:** Full integration (10/10)
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## Scoring Template
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| Quest Name | Description | Due Date | Score |
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|------------|-------------|----------|-------|
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| Hardware Setup | | 2025-08-31 | |
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| State Estimation | | 2025-08-31 | |
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| Mapping: SLAM | | 2025-08-31 | |
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| Raceline Generation/Optimization | | 2025-08-31 | |
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| Planning: Lattice Planner | | 2025-04-31 | |
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| Controls: Pure Pursuit | | 2025-08-31 | |
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| Integration | Full Integration | 2025-08-31 | |

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