By Albert Sonne Olesen, Benedek Benjamin Gergaly, Emil Albin Ryberg and Mads Riis Thomsen.
GitHub repository for group 663 of the 6th semester 2020 on the Robotics education of Aalborg University.
This repository contains all the simulation code related to the Bachelor project of group 663: A Collaborative Robot Cell for Unstructured Bin-Picking:
Based on Deep Learning Policies Designed for Assembly of Phones.
The GitHub repository with documentation for the controller and bin-picking logic can be found in this repository.
The project is based on the previous work, done by the group in the 5th semester, of performing assembly of dummy phones from 2D table-picking (5th semester GitHub).
The project aims to use a UR-5 collaborative robot to perform bin-picking of the dummy phone parts by Festo, to then perform an assembly of the phone. The project was carried out during Covid-19 and thus access to a physical robot environment was restricted and the project had to be conducted in a virtual environment.
The simulation software used is Webots.
The libraries required to run all code in the repository are listed below:
pillow
numpy
opencv-python
opencv-contrib-python
imutils
scipy
pytorch
detectron2
terminaltables
matplotlib
pyrealsense2 (not needed for simulation)
urx (not needed for simulation)