Pick and Place of Colored Blocks
"Learn how to locate and separate colored blocks in Lab 6. Understand the procedure, goals, and demo requirements. Follow step-by-step instructions for HSV range setting, blob search, centroid identification, and pick-and-place logic to complete the task successfully."
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Lab 6 (Week 2) Pick and Place of Colored Blocks
Lab 6 Goal Our goal is to locate and separate blocks by their color Lab 6 is fairly straightforward This is a 2 week lab Week 1 Goal: Find the HSV values you need and integrate the old code into Lab 6 Week 2 Goal: Complete the pick and place logic and demo The final due date will be December 19th, but I hope everyone can demo by the 12th Prep for Next Week: Lab time next week will be office hours for those who don t finish
Lab 6 Demo 2 green and 2 pink blocks will be placed in the work area The robot should pick them up and stack them in the designated area Stacking them is my requirement Neatness will not be graded as this would require much more work. If a block is moved after locating, the robot should: Finish the task Print an error to the terminal
Lab 6 Sections 6.5.1 HSV Range Setting and Blob Search Identifying pink and green Set blob detection parameters 6.5.2 Find Centroids of Pink and Green Blocks 6.5.3 Camera Calibration 6.5.4 Pick and Place
Lab 6 Procedure Step 1: Use your Lab 3 code to find HSV values for pink and green Step 2: Use your Lab 3/6 code to identify the centroids Step 3: Use your Lab 3 code to re-perform the camera calibration Step 4: In the Lab 6 code, transfer the following: Forward Kinematics not used, but may help with troubleshooting Inverse Kinematics Equations for world frame coordinates from the camera Step 5: Write logic of your pick and place There is a lot of prewritten code, so make sure you review it before you start
Lab 6 Procedure lab6_func.py This is your forward and inverse kinematics just cut and paste lab6_exec.py This is the logic of your program There is quite a bit to write here compared to the other files blob_search.py This is much like Lab 3 and requires you to find the centroids of both pink and green blocks lab6_header.py Generally no need to edit
Lab Report There is no formal report for Lab 6. Please submit your final code to Gradescope for credit. You and your partner can submit the same document, but you both must submit I can t give you a grade if you don t submit. I would appreciate if you do this ASAP after you finish so I can close out your grades.
For Next Week 12/11(12) Office hours only I may reduce or cancel these depending on how many students don t finish this week. Due Date 12/19 at the latest Thanks for all your hard work and good luck with finishing up your projects and finals!
