Grasp point for the red peg was found by computing the average location of all red pixels in frame

Place point on blue square was found by computing the average location of all blue pixels in frame

Grasp/place points were only computed after the camera was moved to be directly above the object

First search for blue pixels for the square

• If no blue detected, move the end-effector up by 0.1m

• If blue is detected, move the end-effector such that the camera is above the average of the coordinates, then rescan the image to get a more accuarte measurement of the center

Repeat for red pixels for the peg

Move end-effector above the peg, then descend down and pick up peg

Move peg to location above the average blue pixel location, then descend down to place the peg