We were successfully able to pick up a ball, find multiple cups on a table, select one to throw at, calculate the position of the cup to throw at in (x, y, z) space, translate that to an initial starting position for our robot, and execute a throw, landing in the cup. See the video to the left for a demonstration of a 3-cup beer pong game.

We were able to get the robot to be fairly consistent with the throws with around 3 inches of total margin of error. The mechanical accuracy and precision were both decent, with being able to move the cup to 3 positions and getting it in and getting up to 5 throws in a single cup at the same position.