Build-keva

Project Period : 2019.02 - 2019.05

1. Arm

• Maestro - control wrist
• Xarm - control arm
• Move_Block - python high level coordination control code

2. Computer Vision - Guess block 3D location

• pictures - test pictures
• result - test result
• Params - parameters for block detection
• detect_block.py - Detect 2d block pictures
• detect-stack.py - Detect group of block pictures (Build up as a stack)

3. Final

• This folder is used for the final complete demo
• Main.py - control the general workflow

4. gazebo

• Use ROS and GAZEBO to do simulation
• empty_world - predefined world model
• gazebo_spawn.py - run it to build certain stacks in GAZEBO

Demo Video : https://www.youtube.com/watch?v=66fQwPqM1F8&ab_channel=GeRuohai

Simulation Video : https://www.youtube.com/watch?v=vQ-UaYS_w0o&feature=youtu.be&ab_channel=GeRuohai