Description:
Complete the positional mapping between spaces in the game board and (x, y, z) positions in the plane of the table. Use this mapping to place pieces in the correct location in the board based on the game state, and to detect where pieces are in the game state (will be needed to read state after human takes a turn).
Note the following complexity: ArUco tags should give you the angle of the board in the plane of the table. If you know the positional offset between, say, the bottom left corner of the game board and space 40, it won't be as simple as adding the x and y offset — you will need to scale the offsets according to the angle of the board. You should think of this as a mapping between the robot workspace and the game space.
Description:
Complete the positional mapping between spaces in the game board and (x, y, z) positions in the plane of the table. Use this mapping to place pieces in the correct location in the board based on the game state, and to detect where pieces are in the game state (will be needed to read state after human takes a turn).
Note the following complexity: ArUco tags should give you the angle of the board in the plane of the table. If you know the positional offset between, say, the bottom left corner of the game board and space 40, it won't be as simple as adding the x and y offset — you will need to scale the offsets according to the angle of the board. You should think of this as a mapping between the robot workspace and the game space.