The aim of this project is to use pieces of softwares developed at Auctus to manipulate LEGO. This work can be related to experiments for Benjamin Camblor’s thesis and the PacBot project.

Live demonstration

Here is a video of a manipulation demo. The robot realizes three tasks:

• Remove a single LEGO on a tower
• Put LEGO on the plate
• Put LEGO on another LEGO

All this work is done using the softwares developed at Auctus, namely :

• panda_qp_control with velocity_qp and script from panda_lego_exp
• world_camera_manipulation
• moveit_trajectory_interface