In this video the tower has no piece that can be moved so the robot doesn't attempt to move any pieces.
This program attempts to make a Denso robot take a turn playing Jenga when you press the button. It scans the tower using three optical sensors at the end of the arm, turns the tower, then scans the other side. Using the data from the scan it pulls a piece out with a suction-cup and places it on the top of the tower.
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