Results

Overall, our implementation worked very well. We were able to successfully sort (without any misses or drops) about 9/10 times. We showcase the three sorts we set out to visualize (selection sort, insertion sort, and merge sort) below. For the sake of brevity, we sort on four blocks with the desired order being red, green, blue, purple. We start each video with the blocks placed in unsorted order atop the AR tags that the Sawyer hand camera has already localized. Note that on this particular day, the grippers were somewhat sticky and would not let go of the blocks sometimes, hence the manual intervention on the placing of some blocks.