README.md

COMPAS II: Assembly of discrete elements I

Pick'n'place planning.

Brief introduction to graphs.

Modelling assembly processes as DAGs.

👉 Slides

Examples

Make sure you start (compose up) the container for the planning examples.

• Pick and Place planning with MoveIt

  • Cartesian motion planning
  • Cartesian motion planning: visualization
  • Free space motion planning
  • Free space motion planning: visualization
  • Add objects to the scene
  • Append nested objects to the scene
  • Remove objects from the scene
  • Attach tool
  • Detach tool

• Graphs

  • Linear order
  • Color-mixing lattice
  • Color-mixing lattice: visualization
  • Partial order
  • Network concepts
  • Using NetworkX