{"id":388,"date":"2017-10-26T17:32:36","date_gmt":"2017-10-26T17:32:36","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/?page_id=388"},"modified":"2018-03-05T03:56:34","modified_gmt":"2018-03-05T03:56:34","slug":"test-plan","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/project-management\/test-plan\/","title":{"rendered":"Test Plan"},"content":{"rendered":"<h3>Spring Semester Test Plans<\/h3>\n<h4>Logistics<\/h4>\n<div class=\"page\" title=\"Page 3\">\n<div class=\"section\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<h5>Equipment<\/h5>\n<div class=\"page\" title=\"Page 3\">\n<div class=\"section\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<ul>\n<li>Autokrawlers (x2): All tests, unless otherwise specified, will involve one or both Autokrawler robots, henceforth referred to as \u201crovers\u201d.<\/li>\n<li>Laptop (x1): A single laptop is used to coordinate actions and communication between the rovers. This laptop will be used to display\/observe internal system states unless otherwise specified.<\/li>\n<li>PS4 Wireless Controllers (x2): These controllers are used to teleoperate the rovers.<\/li>\n<li>Obstacles (x1-x5): These are round objects ranging in diameter from the minimum required to entrap the rovers via high centering (approximately 20cm) to completely impassable by the rovers (approximately 1m).<\/li>\n<\/ul>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<div class=\"page\" title=\"Page 3\">\n<div class=\"section\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<h5><\/h5>\n<h5>Rover Status<\/h5>\n<div class=\"page\" title=\"Page 3\">\n<div class=\"section\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<p>Unless otherwise stated all tests will begin with the rovers and remote controllers turned on, connected, and running the ROS nodes relevant for each test.]<\/p>\n<\/div>\n<div class=\"page\" title=\"Page 4\">\n<div class=\"section\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<h5><\/h5>\n<h5>Locations<\/h5>\n<div class=\"page\" title=\"Page 4\">\n<div class=\"section\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<p>The Spring Validation Experiment (SVE) and other field tests will take place at the field test spot , which will be determined during the spring semester and before the SVE test; the other subsystem\/component tests and system integration tests will be performed at the Planetary Robotics Lab (Gates Highbay) unless explicitly mentioned otherwise.<\/p>\n<div class=\"page\" title=\"Page 4\">\n<div class=\"section\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<h5><\/h5>\n<h5>Personnel<\/h5>\n<div class=\"page\" title=\"Page 4\">\n<div class=\"section\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<p>All personnel will be present for all tests. Each subsystem test will be conducted by the person in charge of primary development of that subsystem. Integration tests will be conducted by the primary integrator of those systems.<\/p>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<p>&nbsp;<\/p>\n<div class=\"page\" title=\"Page 5\">\n<div class=\"section\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<h4>Schedule<\/h4>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-873 aligncenter\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2018\/03\/Screen-Shot-2018-03-04-at-22.44.14.png\" alt=\"\" width=\"2144\" height=\"1250\" \/><\/p>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<p>&nbsp;<\/p>\n<div class=\"page\" title=\"Page 6\">\n<div class=\"section\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<h4>Subsystem Tests (ST)<\/h4>\n<div class=\"page\" title=\"Page 6\">\n<div class=\"section\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<h5>ST.1: Autonomous Entrapment Detection Test<\/h5>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-874 aligncenter\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2018\/03\/Screen-Shot-2018-03-04-at-22.45.15.png\" alt=\"\" width=\"2146\" height=\"1240\" \/><\/p>\n<div class=\"page\" title=\"Page 7\">\n<div class=\"section\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<h5><\/h5>\n<h5>ST.2: Claw Pose Control Test<\/h5>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-875 aligncenter\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2018\/03\/Screen-Shot-2018-03-04-at-22.45.49.png\" alt=\"\" width=\"2146\" height=\"1138\" \/><\/p>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<div class=\"page\" title=\"Page 8\">\n<div class=\"section\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<h5><\/h5>\n<h5>ST.3: Claw Grasping Test<\/h5>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-876 aligncenter\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2018\/03\/Screen-Shot-2018-03-04-at-22.46.52.png\" alt=\"\" width=\"2058\" height=\"1396\" \/><\/p>\n<div class=\"page\" title=\"Page 9\">\n<div class=\"section\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<h5><\/h5>\n<h5>ST.4: Winch Functionality Test<\/h5>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-877 aligncenter\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2018\/03\/Screen-Shot-2018-03-04-at-22.47.39.png\" alt=\"\" width=\"2132\" height=\"1130\" \/><\/p>\n<div class=\"page\" title=\"Page 10\">\n<div class=\"section\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<h5><\/h5>\n<h5>ST.5: Docking Planning Test<\/h5>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-878 aligncenter\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2018\/03\/Screen-Shot-2018-03-04-at-22.48.13.png\" alt=\"\" width=\"2136\" height=\"1242\" \/><\/p>\n<div class=\"page\" title=\"Page 11\">\n<div class=\"section\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<h5><\/h5>\n<h5>ST.6: Towing Coordination Test<\/h5>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-879 aligncenter\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2018\/03\/Screen-Shot-2018-03-04-at-22.48.49.png\" alt=\"\" width=\"2126\" height=\"1128\" \/><\/p>\n<div class=\"page\" title=\"Page 12\">\n<div class=\"section\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<h5><\/h5>\n<h5>ST.7: Camera Test<\/h5>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-880 aligncenter\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2018\/03\/Screen-Shot-2018-03-04-at-22.49.26.png\" alt=\"\" width=\"2126\" height=\"806\" \/><\/p>\n<div class=\"page\" title=\"Page 13\">\n<div class=\"section\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<h5><\/h5>\n<h5>ST.8: Path Planning sub-system test<\/h5>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-881 aligncenter\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2018\/03\/Screen-Shot-2018-03-04-at-22.50.05.png\" alt=\"\" width=\"2128\" height=\"1228\" \/><\/p>\n<p>&nbsp;<\/p>\n<div class=\"page\" title=\"Page 14\">\n<div class=\"section\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<h4>System Integration Tests (IT)<\/h4>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<div class=\"page\" title=\"Page 14\">\n<div class=\"section\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<h5>IT.1: Unobstructed Coplanar Docking Test<\/h5>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-883 aligncenter\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2018\/03\/Screen-Shot-2018-03-04-at-22.51.18.png\" alt=\"\" width=\"1730\" height=\"1308\" \/><\/p>\n<div class=\"page\" title=\"Page 15\">\n<div class=\"section\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<h5><\/h5>\n<h5>IT.2: Autonomous Rescue of Entrapped Rover<\/h5>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-884 aligncenter\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2018\/03\/Screen-Shot-2018-03-04-at-22.51.52.png\" alt=\"\" width=\"1732\" height=\"1310\" \/><\/p>\n<p>&nbsp;<\/p>\n<div class=\"page\" title=\"Page 16\">\n<div class=\"section\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<h4>Spring Validation Experiment<\/h4>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-885 aligncenter\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2018\/03\/Screen-Shot-2018-03-04-at-22.52.26.png\" alt=\"\" width=\"1736\" height=\"1090\" \/><\/p>\n<p>&nbsp;<\/p>\n<div class=\"page\" title=\"Page 17\">\n<div class=\"section\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<h4>Appendix A: System Requirements<\/h4>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-886 aligncenter\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2018\/03\/Screen-Shot-2018-03-04-at-22.53.12.png\" alt=\"\" width=\"1738\" height=\"784\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-887 aligncenter\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2018\/03\/Screen-Shot-2018-03-04-at-22.54.09.png\" alt=\"\" width=\"1736\" height=\"898\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-888 aligncenter\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2018\/03\/Screen-Shot-2018-03-04-at-22.54.34.png\" alt=\"\" width=\"1736\" height=\"260\" \/><\/p>\n<p>&nbsp;<\/p>\n<p><strong>Attachments:<\/strong><\/p>\n<ul>\n<li>Rudimental SVE Test Plan: <a href=\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2017\/10\/TeamI_SVE.docx\">TeamI_SVE.docx<\/a>\u00a0(11\/06\/2017)<\/li>\n<li>Test Plan For Spring Semester: <a href=\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2018\/02\/TeamI_TestPlan.pdf\">TeamI_TestPlan<\/a>\u00a0(02\/07\/2018)<\/li>\n<li>SVE Test Plan: <a href=\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2018\/02\/TeamI_SVE.docx\">TeamI_SVE<\/a>\u00a0(02\/07\/2018)<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>Fall Validation Experiment (FVE)<\/h3>\n<p>The Fall Validation Experiment will focus on the behaviors directly associated with towing a robot out of a several variations on a scenario involving a high centered robot.<\/p>\n<p>&nbsp;<\/p>\n<table>\n<tbody>\n<tr>\n<td colspan=\"4\"><b>Team I Fall Validation Experiment<\/b><\/td>\n<\/tr>\n<tr>\n<td><b>Location<\/b><\/td>\n<td colspan=\"3\"><span style=\"font-weight: 400\">GHC PRB High Bay<\/span><\/td>\n<\/tr>\n<tr>\n<td><b>Environment<\/b><\/td>\n<td colspan=\"3\"><span style=\"font-weight: 400\">5mx5m, flat unobstructed area.<\/span><\/td>\n<\/tr>\n<tr>\n<td><b>Equipment<\/b><\/td>\n<td colspan=\"3\"><span style=\"font-weight: 400\">2 Autokrawler rovers, 10cmx1.5m wooden ramp, 20cmx1.5m cylinder, 2 PS4 joysticks, 1 Laptop, 1 Wifi Router<\/span><\/td>\n<\/tr>\n<tr>\n<td><b>Test ID: A<\/b><\/td>\n<td colspan=\"3\"><b>Path Planning and Localization<\/b><\/td>\n<\/tr>\n<tr>\n<td><b>Description<\/b><\/td>\n<td colspan=\"3\"><span style=\"font-weight: 400\">Demonstrate path planning in a simulated environment. Demonstrate relative localization of the rover.<\/span><\/td>\n<\/tr>\n<tr>\n<td><b>Step<\/b><\/td>\n<td colspan=\"2\"><b>Step Description<\/b><\/td>\n<td><b>Success Condition<\/b><\/td>\n<\/tr>\n<tr>\n<td><span style=\"font-weight: 400\">A.1<\/span><\/td>\n<td colspan=\"2\"><span style=\"font-weight: 400\">In simulation define an environment space (with a specified size) in which the rover will operate. Further, define a 1.0m by 1.0m obstacle in the environment with free space of at least 2.5m around it. The start state is defined on one side of the obstacle and goal state is defined on the other side of the obstacle and the orientation of the start state and goal state is kept at the same angle. This scenario will force the rover to circulate around the obstacle without colliding with it and reach the goal state.<\/span><\/td>\n<td><span style=\"font-weight: 400\">The planner generates a path between the (specified) start state and the goal state if a feasible path exists while avoiding obstacles and taking into account the minimum turning radius of the rover. The simulated rover does this by following a generated path and ends in the desired position and orientation (goal state). <\/span><\/p>\n<p><span style=\"font-weight: 400\">The path should lead the rover to a final state such that its orientation is aligned with the goal state orientation within 40 degrees and it is within a 0.25m radius of the goal state position.<\/span><\/td>\n<\/tr>\n<tr>\n<td><span style=\"font-weight: 400\">A.2<\/span><\/td>\n<td colspan=\"2\"><span style=\"font-weight: 400\">Localization: Rover is <\/span><b>teleoperated<\/b><span style=\"font-weight: 400\"> around a 3mx3m square in test area, returning as close as possible to the original starting position.<\/span><\/td>\n<td><span style=\"font-weight: 400\">Rover odometry drift (calculated with respect to rover\u2019s ground truth) is less than 10cm. <\/span><\/td>\n<\/tr>\n<tr>\n<td><b>Test ID: B<\/b><\/td>\n<td colspan=\"3\"><b>Autonomous Demonstrations<\/b><\/td>\n<\/tr>\n<tr>\n<td><b>Description<\/b><\/td>\n<td colspan=\"3\"><span style=\"font-weight: 400\">Autonomously complete a simple docking operation, and autonomous path following.<\/span><\/td>\n<\/tr>\n<tr>\n<td><b>Step<\/b><\/td>\n<td colspan=\"2\"><b>Step Description<\/b><\/td>\n<td><b>Success Condition<\/b><\/td>\n<\/tr>\n<tr>\n<td><span style=\"font-weight: 400\">B.1<\/span><\/td>\n<td colspan=\"2\"><span style=\"font-weight: 400\">Simple 1D Docking-Tow maneuver: Start the rovers 50cm apart, both on level ground (no obstructions). Send a command to autonomously dock and tow.<\/span><\/td>\n<td><span style=\"font-weight: 400\">Winch-Rover advances 50cm to the Claw-Rover. Claw closes around tow ring. <\/span><\/p>\n<p><span style=\"font-weight: 400\">Both rovers drive 50cm in the reverse direction such that the Winch-Rover \u00a0is back in its original position. The claw opens to release the winch..<\/span><\/p>\n<p><span style=\"font-weight: 400\">This maneuver will have a 75% success rate.<\/span><\/td>\n<\/tr>\n<tr>\n<td><b>Test ID: C<\/b><\/td>\n<td colspan=\"3\"><b>Component Demonstrations<\/b><\/td>\n<\/tr>\n<tr>\n<td><b>Description<\/b><\/td>\n<td colspan=\"3\"><span style=\"font-weight: 400\">Achieve docking and liberation of an <\/span><b>entrapped<\/b><span style=\"font-weight: 400\"> rover by using a tele-operated (human-in loop) \u00a0counterpart. <\/span><\/td>\n<\/tr>\n<tr>\n<td><b>Step<\/b><\/td>\n<td colspan=\"2\"><b>Step Description<\/b><\/td>\n<td><b>Success Condition<\/b><\/td>\n<\/tr>\n<tr>\n<td><span style=\"font-weight: 400\">C.1<\/span><\/td>\n<td><span style=\"font-weight: 400\">Camera subsystem<\/span><\/td>\n<td colspan=\"2\"><span style=\"font-weight: 400\">Show a live video feed from the rover to the base station laptop.<\/span><\/td>\n<\/tr>\n<tr>\n<td><span style=\"font-weight: 400\">C.2<\/span><\/td>\n<td><span style=\"font-weight: 400\">Teleoperated dock, tow, release.<\/span><\/td>\n<td colspan=\"2\"><span style=\"font-weight: 400\">The following sequence occurs: Entrap one rover then drive the other rover up to it, dock, pull it off the obstacle, and release the docking mechanism.<\/span><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>&nbsp;<\/p>\n<p><strong>Attachments:<\/strong><\/p>\n<ul>\n<li>Rudimental FVE Test Plan:\u00a0<a href=\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2017\/10\/TeamI_FVE.docx\">TeamI_FVE.docx<\/a>\u00a0(11\/06\/2017)<\/li>\n<li>FVE Test Plan Ver.1:\u00a0<a href=\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2017\/10\/Fall-Validation-Experiment-Plan.pdf\">Fall Validation Experiment Plan.pdf<\/a>\u00a0(11\/20\/2017)<\/li>\n<li>FVE Test Plan Ver.2:\u00a0<a href=\"https:\/\/docs.google.com\/document\/d\/14uiN2N5FJ2W7_NxMY4qWZuGevMPaKGxV_USh9Y92pBA\/edit?usp=sharing\">Team I FVE v2.docx<\/a>\u00a0(11\/28\/2017)<\/li>\n<li>FVE Test Plan Ver.2:\u00a0<a href=\"https:\/\/docs.google.com\/document\/d\/1PM0My6Nz6etQC1m_BZpBCqVNKNaaP62tEsemTiT0J9w\/edit?usp=sharing\">Team I FVE v3.docx<\/a>\u00a0(11\/28\/2017)<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Spring Semester Test Plans Logistics Equipment Autokrawlers (x2): All tests, unless otherwise specified, will involve one or both Autokrawler robots, henceforth referred [&hellip;]<\/p>\n","protected":false},"author":118,"featured_media":0,"parent":28,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-388","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-json\/wp\/v2\/pages\/388","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-json\/wp\/v2\/users\/118"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-json\/wp\/v2\/comments?post=388"}],"version-history":[{"count":23,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-json\/wp\/v2\/pages\/388\/revisions"}],"predecessor-version":[{"id":891,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-json\/wp\/v2\/pages\/388\/revisions\/891"}],"up":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-json\/wp\/v2\/pages\/28"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-json\/wp\/v2\/media?parent=388"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}