Completely controlled by python script through ROS and there are no motions on the teach pendant.
Motion planning, Collision detection and avoidance, Controlling grippers and I/O pins, and many more!
A URcap software is used to connect the host ROS PC to the robot.
All the motion planning is carried out by moveit! package and the waypoints are sent through a python script via ethernet. I/O states can be controlled through the python script as well.
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Rviz is used to visualize the robot's motions and can be used for collision detection. In this case, the robot avoids collision with the table. Objects can also be attached to the tool.
Even simulations can be carried out on gazebo before sending the python script to the real robot!
