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GSoC 2026 Final Report: From Palletizing to Depalletizing
From a borrowed Pick and Place scene to two browser-based industrial manipulation exercises: a complete SKU-based Palletizing exercise and an additional three-layer Depalletizing and sorting exercise for RoboticsAcademy.
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Week 13 — Palletizing arrives in RoboticsAcademy
This week the palletizing exercise moved from native simulation into the RoboticsAcademy browser workflow. Matched RADI images launched the Gazebo Harmonic workcell, UR10, MoveIt, RViz, console, and an 18-box palletizing run through the Academy interface.
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Week 12 — One workcell, many palletizing patterns
This week the palletizing exercise progressed from one fixed stack into an SKU-based pattern playground. The same UR10, conveyor, and box metadata pipeline now support row, brick, rotated-block, and pinwheel-style pallet layouts.
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Week 11 — A slower week and more SKU planning
This was a lighter week because I was ill, so there was no major implementation milestone. I used the time I had to review the SKU-based palletizing direction, think through the student-facing API boundary, and plan the next collision and placement steps.
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Week 10 — Starting SKU-based palletizing
The exercise started moving from one fixed box size and hardcoded 2×2×2 targets toward SKU-based online palletizing, with task metadata in YAML, dynamic box generation, box and pallet info topics, HAL accessors, and a first row/shelf placement planner.