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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.
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Week 9 — Syncing the palletizing exercise with upstream
The palletizing branches caught up with JdeRobot upstream — Worlds became Scenes, universe records moved to the new world/scene schema, IDs changed to exercise 30 and world 73, and the UR10 MoveIt group setup converged with upstream's ROB_GROUP parameter.
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Week 8 — Polishing on mentors' feedback
A full pass over the mentors' review notes — the world relaid so the robot works one end of the belt, palletizing-only joint limits that force a tidy clockwise swing, the conveyor and pallet fed to MoveIt as collision objects, and a UR10 that finally moves predictably.