• Tags:
  • Fall 2019


Allow an UR5 arm to draw any picture that a user wants.


Text to portrait is a script that allows users to input what image they want Castor or Pollux (UR5 arms) to draw. Using the google custom search api, it downloads the first 10 images of a specific search query. It then uses opencv to extract the edges of the images and translates it to coordinates for the arm to move in. A gui is also displayed to help users select which image to draw and to control certain parameters like thresholds and drawing speed.

Demo Video

Tools Used

  • Ubuntu 16.04
  • ROS kinetic
  • Python
  • OpenCV
  • Matplotlib

Team Members

  • Richard Gao
  • HK Rho