README.md

COMPAS II: Path planning

Cartesian and kinematic path planning using MoveIt.

Planning scene operations.

End effectors.

Method for Pick and Place planning.

👉 Slides 📜 Assignment 04

Examples

Make sure you start (compose up) the container with a UR5 planner for these examples. You can use either the one with browser-based UI or the lightweight version of it without UI.

• Path planning with MoveIt

  • Cartesian motion planning
  • Cartesian motion planning + graphs
  • Free space motion planning
  • Free space motion planning + graphs
  • Constraints

• Planning scene in MoveIt

  • Add objects to the scene
  • Append nested objects to the scene
  • Remove objects from the scene

• Pick and place process

  • Attach tool
  • Detach tool
  • Plan cartesian motion with tool

• Hands-on exercise

  • Pick and Place planning