We can imagine a lot of improvements (IK, spline, position of various paws) Or we record half-trajectories and reconstruct themĪpply the smooth to make the movements more fluid We can hardcode it by defining key points (joint or cartesian) → complex and boringĥ positions to catch and 9 positions to placeĤ5 trajectories → all of them can be recorded Theses stickers can be set freely on the right side of Reachy. To allow Reachy to find its pawns, we must set small stickers on the board on which Reachy’s cylinders will be put. When it’s done, we can clamp the metallic triangle on Reachy’s structure by putting a screw through it and through the board, and putting a ring and a nut on the other side of the board. Make four holes of 8.2mm diameter on the board, in order to clamp the metallic structure with screws and nuts.It works on short term, but is not very reliable. Fix the metallic structure on the board with Clamps.To do so, we need to draw lines with black tape in order to make 9 squares of 12.5 cm. To create this environment you will need:Ī wood plank for the board (we used a 60圆0cm)ĥ pawns for the robot: the cylinders (radius 5cm height 7cm)ĥ pawns for the human player: the cubes (5x5x5cm)įirst of all, let’s draw the lines of the tic-tac-toe’s grid. We assume that you’re already familiar with its basic usage and especially that you know how make it move.įirst thing first, we’ll start by building the hardware setup. The whole code for this tutorial will be built upon Reachy Python’s API. Train some AI to know how to play tic tac toeĪnd finally integrate everything in a game loop so we can try to beat Reachy Record the motions for grasping a pawn and placing it to one of the case Pretty cool, right? But let’s dive in the project as we have quite some fields to cover.
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