Cappuccino preparing robot UR10

In the CoLoRs lab, we have a robot arm (UR10) with a 3-fingered gripper and a force/torque sensor in the wrist. The aim of this project is to teach this robot to prepare cappuccino. For this, the students should

- learn how to control the simulated and real UR10 robot using Robot Operating System (ROS),

- learn our Learning from Demonstration framework, Conditional Neural Movement Primitives,

- program motions or directly control robots’ arm to prepare good cappuccino (or milk-shake)

- learn those motions and execute them on the real robot

The expected output is on the left and our robot is on the right: