Two Franka Pandas playing tic-tac-toe
Oct – Nov 2025
- Board and cubes designed in Fusion 360; an overhead OpenCV camera reads the board.
- MoveIt 2 plans both arms; an AI decision node plays Human vs AI and AI vs AI.
Franka Panda colour sorting
Sep – Oct 2025 · taught as a masterclass on 5 Oct 2025
- OpenCV HSV segmentation, tf2 transforms into the robot frame, MoveIt 2 through pymoveit2.
- ros2_control trajectory and gripper controllers in Gazebo, with a Docker image for Humble and Jazzy.
- My most-used open-source project. Viewers reproduced it on their own arms and in Isaac Sim.
- Limit: a single RGB camera with a fixed pick height, not a depth camera.
UR5 pick-and-place (e-Yantra)
A task from e-Yantra, IIT Bombay's robotics competition · video published 16 Dec 2025
- Each box carries an ArUco marker; a fixed camera detects the markers with OpenCV to locate the boxes.
- MoveIt plans the UR5's motion to each box, and an electromagnet end effector mounted on the arm picks it up and places it at its drop location.
- Built and run in Gazebo simulation for the competition; it is not part of my public repositories.
Aura, a mobile manipulator
Dec 2024 – Feb 2025
- A differential-drive base in Gazebo with an arm that started as 4-DOF and ended as 5-DOF.
- Nav2, MoveIt, frontier-based exploration, an ArUco docking station, colour detection and Alexa voice control.
Next
The SCARA cell is where this work moved onto real hardware.