This repo is for precision robotic pouring. The key aspect of this work is that little augmentation is required for the robot to pour fluids simliar to human counter parts.
- liquid_level_detection
- This script uses background subtraction to detect the height of fluid in the image
- liquid_level_detection_nn
- This script runs a NN to determine the presence of distorted/occluded background, then passes the detection image to the background subtraction package to find the height of the water
- queen_cam_calibration
- This has launch file for mvbluefox camera
- liquid_apriltags
- This detects apriltags of interest in the experiment
- tag_generator
- This makes the apriltags
- pouring_edge_detection
- This package begins to address how to detect the edge of containers for pouring without spilling
- (older) pouring_control_pkg
- (previous method for pouring with known geometry)
- pouring_unknown_geom
- This package contains the latest method of precision pouring from uknown container geometries in a single attempt
- libgp: This is for c++ gaussian process functionality:
git clone git@github.com:mdkennedy3/libgp.git