These codes were written in python using MoveIt framework and Robot Operating System (ROS1 Noetic). Clone the repository for launching the simulation, and see the UR3 arm perform various tasks.
Launch the simulation:
roslaunch simulation simulator.launch
Search Patern:
roslaunch simulation objective1.launch
Push a sequence of buttons:
roslaunch simulation objective2.launch sequence:="string of 4 buttons"
Pick up Sensor:
roslaunch simulation objective3.launch
Place Sensor:
roslaunch simulation objective4.launch
Pick up inspection panel cover:
roslaunch simulation objective5.launch
Scan ArUco Marker inside inspection panel:
roslaunch simulation objective6.launch
Push Button Corresponding to Hidden Tag:
roslaunch simulation objective7.launch
Close Inspection Panel:
roslaunch simulation objective8.launch
Home Position:
roslaunch simulation objective9.launch