Before starting the MS in Robotics program at Northwestern University, students participate in a Hackathon where they are presented with several challenges. The pen challenge is one of them.
Using an Intel Realsense D435 and an Interbotix PX100 arm, students have to locate a Purple pen in space, and get the arm to grab it.
/dev
contains python code which was used for developing functionalities and performing tests/examples
contains example source code which was used as starting pointrobot_arm.py
contains a wrapper class for the Interbotix robot arm functions usedpen_tracker.py
is the code that runs the pen detection, interacting with the Realsense camera and displaying the resultskinematics.py
contains functions that aid in the calculations needed to get the robot to grab the pen, mainly conversion between framesmain.py
is the main code that orchestrates the flow
This was implemented using Python's multiprocessing package to get a fluent view of the tracking while interacting with the robot.
When tested as a single process, the tracking preview was stuttery.