README.md

COMPAS II: Path planning for pick and place processes

Planning scene operations.

Cartesian and kinematic path planning using MoveIt.

End effectors.

Method for Pick and Place planning.

👉 Slides

Examples

Make sure you start (compose up) the container with a UR3e planner for these examples.

• Planning scene in MoveIt

  • Planning scene preview in GH
  • Add objects to the scene
  • Append nested objects to the scene
  • Remove objects from the scene

• End effectors (tool)

  • Attach tool
  • Detach tool

• Path planning

  • Cartesian motion planning
  • Cartesian motion planning with tool
  • Free space motion planning
  • Free space motion planning with tool
  • Constraints

• Pick and Place

  • Pick and Place skeleton
  • Pick and Place skeleton in GH

Preparation for next lecture

• No coding assignment, but:
• Use and experiment with example 420:
  • To search paths for more than one part
  • To add the current part as attached collision mesh
• Pair and Answer the following two questions:
  • What was the most important thing you learned today?
  • What important question(s) remain(s) unanswered?