Project Documentation
Diagram showing relative transforms between base, camera, and gripper frames
Sorting bins used for waste disposal
Sawyer robot performing bowl manipulation
Objects used for training the computer vision system
Successful centroid detection on a banana, demonstrating our object detection system
Source Code & Files
All project code and resources are available in our GitHub repository:
- GitHub Repository: 106a-final | Branch: pixel-conversion
- Robot control code and motion planning implementation
- Computer vision system for object detection
- ROS launch files for system initialization
Hardware Documentation
CAD models and component specifications:
- Intel RealSense camera setup and calibration details
- Sorting bin dimensions and placement specifications