UR5LegoVision

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Dataset and Model Traning

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### 1. **Data collection and annotation**: The first step in object detection is to collect a dataset of images containing blocks in various poses and lighting conditions. Use Blender to...

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Image as input

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## Steps for Simple Image-Based Analysis: #### 1. Preprocessing: - Obtain a clear outline image of the Lego castle with distinct shapes representing each block level. Ensure the outline is...

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Image to Lego construct

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Approaching 2D flat construct first. This means given an input image of a castle from just a front view, calculate from each level (bottom to top) which lego blocks can...

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Developing a lightweight software tool to define and assemble Lego constructions can be incredibly beneficial. This software could serve as a user-friendly interface for constructing and exporting Lego shapes. Here...

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Finite State Machine

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https://github.com/pytransitions/transitions A possible FSM could include the following states and transitions: **Initial state**: This is the starting state of the FSM. It could transition to the following states: - **Object...

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Kinematics

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Kinematics in a robot project refers to the study of the motion of robots without considering the forces or torques that cause the motion. It focuses on describing and understanding...

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Environment Setup

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## Install environment Follow instructions in [locosim](https://github.com/anhtuduong/locosim) (recommend using [Docker](https://github.com/anhtuduong/locosim#usage-with-docker)) for [Window](https://github.com/mfocchi/lab-docker/blob/master/install_docker_windows.md) ## Start developing ### Clone the UR5BlokVision repo: ```bash cd ros_ws/src/ ```bash git clone [email protected]:anhtuduong/UR5BlokVision.git ``` ### Compile/Install...

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Lego break when collide

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When stacking lego on top of each other, they break apart. One way to solve is to update **static** value of the lego in runtime.

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We need an ACK system that signal **ready flag** between action to ensure every command is executed before firing next command.

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