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Week 7 — Stacking boxes and getting the paths clean
The pick-and-place loop now runs end to end — boxes get stacked on the pallet, the arm stops taking 360° detours after a joint-limit fix, and the conveyor handshake moved into the HAL so the student code is pure API.
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Week 6 — The full loop: belt, box, arm
The palletizing stack ran end-to-end for the first time — four launch bugs cleared, the conveyor handshake wired up, the suction HAL fixed, and the arm finally reaching the box with the cup pointing down.
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Week 5 — Swapping in the UR10 and cleaning up the framework
Upgrading the palletizing arm from UR5 to UR10, parameterizing a hardcoded group name buried in shared C++, renaming files to mean what they say, and fixing a ghost mesh package along the way.
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Week 4 — A moving belt and a vacuum grip
Giving Palletizing its own branches and exercise, a real moving conveyor belt with a box-lifecycle node, and a suction-gripper variant of the UR5 — URDF, SRDF, controllers, and a patched link attacher.
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Week 3 — Setting up the Palletizing World
Added a Palletizing Harmonic universe by reusing most of the Pick & Place stack — a new SDF world, two launchers, and a SQL row to wire it up.