Design a computer vision solution to autonomously grab a known item of interest using the Reach Bravo 7 manipulator. The known item is an autonomous underwater vehicle (AUV) that must be secured in order to lift it out of the water. The Reach Bravo 7 has been deployed at the surface of the water. It is fitted with a camera fixed to the wrist. The camera is the input to your system. It must detect the April tag secured to the AUV and use this to grab the hook located next to it. The output to your system is the set of joint positions for the manipulator. You must perform analysis of the wrist camera stream to locate and grab the AUV's hook.
There are three rounds:
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The AUV is stationary.
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The AUV moves slowly in one axis.
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The AUV moves randomly in three axes.
You have a maximum of 1 minute to complete each round. Your score is calculated as the sum of the time to complete each round. The lowest score wins.
- Clone this repository onto a Windows system.
- Ensure you have Python 3.7+ installed (and your PATH environment variables set appropriately).
- Ensure Microsoft C++ Build Tools version 14.0 or greater is installed on your system.
- Run ./setup.ps1 script in a PowerShell terminal to create the virtual environment and install all dependencies.
- Add your code to the user.py file.
- Ensure your virtual environment is activated (you've either run setup.ps1 in the same terminal session, or you've activated it yourself with
.\env\Scripts\activate). - Run
python main.py --round 1to start the simulation. The round argument can be 1, 2 or 3.
All commits by William Saffery, Micah Kendal, Jay Taylor and Jarod Grining are GPLv3.
We can only ascertain that the working of our quaternion function was willed into place by some higher power. Truly, none of us understand why flipping a negative one to a positive one, and switching height and width in the exact format seen, in our code, worked. In fact, I would go as far as to say that the most rational explanation is infact divine interference. From this experience I can bring about only one conclusion: quaternions are not of this plane of existence. As Lord Kelvin said: "Quaternions [...] have been an unmixed evil."