1. Purple gloves for both hands
2. Green tablecloth
3. Top-Down Webcam
4. UR5
5. ROS Kinetics enviroment
6. OpenCV

git clone https://github.com/intuitivecomputing/put-that-here.git

UR5 Driver

Google Speech-to-Text

This project supports multimodal robot instruction with four kinds of gestures and various verbal commands.

rosrun put_that_here hand_tracking_node.py

rosrun put_that_here Speech_node.py

rosrun put_that_here pick_ik.py

rosrun put_that_here control_group.py

This node should be run on another computer that connected to the projector.

rosrun put_that_here projector.py

Google Cloud API

python_UR5_ikSlover