Embedded Files
ME 314 Spring 2025 - Team 2
Team
Team
Rohan Bhowmik
Rohan Bhowmik
Repository and ROS pipeline maintenance
State machine system
Robot movement and pose adjustment
Gripper material planning
Robot testing and fine tuning
Alexander Chen
Alexander Chen
Peg in hole color detection
Command queue / state machine system
Gripper planning & selecting materials to purchase
Robot testing & bugfixing
Clive Chung
Clive Chung
Designed ROS pipeline
Implemented pixel-to-coordinate transformations
Robot movement and pose adjustment
Assisted with system testing
Franklin Zhu
Franklin Zhu
Dollar bill and coin object detection
Set up node to find pixel locations of objects
Robot movement and pose adjustment
Robot testing and fine tuning
Task Overview
Task Overview
1) Pick and Place
1) Pick and Place
Goal: Detect and transport a red cube to a green goal region.
2) Peg in Hole
2) Peg in Hole
Goal: Detect and transport a ed cylindrical peg to a blue hole.
3) Coin Pickup
3) Coin Pickup
Goal: Detect and transport a gray plastic coin to a green goal region.
4) Dollar Bill Pickup
4) Dollar Bill Pickup
Goal: Detect and transport flat paper bill to a green goal region.
Experimental Setup
Experimental Setup
UFACTORY X-ARM 7
RealSense RGB-D Camera
Hardware:
UFACTORY Studio & X-ARM 7, affixed with a parallel gripper
RealSense RGB-D camera attached to the end effector & OpenCV
Software:
Docker (for Linux environment) & VSCodium (for Python)
ME314_XArm package (for control & teleoperation)
ROS 2 package (for code architecture), with RVIZ (for sim)
Code Repository: https://github.com/rohan-tan-bhowmik/me314-group2
Page updated
Report abuse