Master Repository for Introduction to robotics. It contains 4 submodules:
- task planner: for communications
- mega blocks detector: Machine learning with YOLOv8
- pointcloud: converts 2D bounding boxes to 3D poses
- motion planner: the kinematics functions
Once cloned this repository, run bash init_ur5_lego.sh to link the submodules and create the world.
After that, you just have to type bash ur5_lego_run.sh, it will launch ur5_generic.py as well as all the other custom nodes.
You can update the world modifying src/scripts/actual_poses_params.py and then running bash create_world.sh in that folder.
Desired parameters are on the other hand located in in src/ur5_lego_modules/desired_poses_params.py.
You can find a video of this project at work clicking on the following link:
https://drive.google.com/file/d/1DNL8iuRZcL6LyBjQTsNmU_ZFPuaRO0vQ/view?usp=sharing
Alex Pegoraro
Alberto Dal Bosco
Federica Lorenzini
Jacopo Veronese