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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.
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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.