Pick and Place

2023 semester project for the Human Robotics Interaction course at JHU. A pick and place robot program.

Authors / Group Members

1. Michael DeLeo - @deleomike
2. Cyrus Hossainian - @chossai1
3. Emma Kaufman - @emmakaufman14
4. Saamahn Mahjouri - @saams4u

Requirements

1. Matlab
2. Python 3.10
3. Python 2.7
4. Ultra Leap IR Sensor
5. Myoband
6. Robai 7 DOF Robot

Development

Setup

HTTPS Clone

git clone https://github.com/deleomike/pick_and_place.git

Create your python environment (Mac/Linux)

python -m venv env
. ./env/bin/activate
pip install -r requirements.txt

Demonstration

You'll need to be logged into Admin

1. Make sure the leap is connected (check the leap toolbar)
2. Run the Leap Server

run this in the leap directory

python2.7 Sample.py

3. Run the MyoBand Server

Open myo_matlab.m with matlab and run it

4. Start the Cyton Actin Viewer
   1. Load the server plugin
   2. Enable Hardware
   3. Hit Play
   4. Start the client terminal script
5. Start the main script

Testing

To test the controller with a dummy cyton server run

python simulated_cyton_server.py

Which will stand up a UDP server that will act like the cyton and print out positions.