In the beginning, we need to make sure the arm’s gripper is in the release position and that we start from the sleep pose. Append the following lines to the main code: The robot arm AprilTag should now be in the field of view of the camera, so now we attempt to solve the problem of finding the homogeneous transformation of the base with respect to the camera frame. The point cloud object would later use this information to reference the cubes to the robot base frame directly. Append the following lines to the main code: Now, it is time to get the homogeneous transformations of the cubes (clusters) relative to the robot base frame using the .get_cluster_positions method. The method will sort the cubes based on how far they are along the x-axis of the base frame. Append the following lines to the main code: 15 Computer Vision News Vision-aided Screw Theory-based…
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