Coin location is computed as the center point of a circle

Circle is obtained from 'Blob Detection' (open source CV model which detects circles)

HSV mask is applied to image from wrist camera to turn it black and white and isolate shapes which is then passed to Blob detection

Move over coin Location

Move downwards until collision is detected

• Save current Z value as ‘Ground’

Move set distance relative to ‘Ground’ for grippers to just reach coin when closed