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Difference between revisions of "Papyrus/customizations/robotics/demos/pick-and-place"
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| − | The | + | = Context = |
| + | The simulated pick-and-place task performed by the Isybot arm is a simple but complete example, which includes service, component and behavioral models. All models are intentionally simple. They can be used as a basis to build other examples with increased complexity, or as a reference to build new applications from scratch. | ||
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| + | The system is made up of: one component, the Isybot controller, which realizes several motion and manipulation skills, like <code>MoveTo</code> in cartesian and joint space and <code>Open</code>/<code>Close</code> gripper; and one sequencer, which executes the behavior tree specification of pick-and-place task and demands to the Isybot controller the execution of skills. | ||
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| + | The sequencer interacts with the component by means of a well-defined coordination interface that conforms to the [https://robmosys.eu/wiki/general_principles:architectural_patterns:component-coordination RobMoSys Architectural Pattern for Component Coordination]. | ||
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| + | = Quickstart Instructions (for the Impatient User) = | ||
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| + | [[video here]] | ||
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| + | More content is in progress. | ||
Revision as of 09:51, 28 September 2020
Context
The simulated pick-and-place task performed by the Isybot arm is a simple but complete example, which includes service, component and behavioral models. All models are intentionally simple. They can be used as a basis to build other examples with increased complexity, or as a reference to build new applications from scratch.
The system is made up of: one component, the Isybot controller, which realizes several motion and manipulation skills, like MoveTo in cartesian and joint space and Open/Close gripper; and one sequencer, which executes the behavior tree specification of pick-and-place task and demands to the Isybot controller the execution of skills.
The sequencer interacts with the component by means of a well-defined coordination interface that conforms to the RobMoSys Architectural Pattern for Component Coordination.
Quickstart Instructions (for the Impatient User)
More content is in progress.