CAD-Based Programming is a module that allows to extract the necessary information from the CAD to perform robot programs based in skills. This module allows automatically set the values of some of the parameters of the skills. Extracting parameter information from CAD, such as assembly part hole coordinates for screw insertion, for drilling, etc. depends on the process. This information is extracted and written in different XML files. From these XML the list of coordinate systems and all necessary information is extracted to calibrate the TF with real object position in MoveIt. Then, the skills are applied to each position and the roto-translations are automatically calculated to get correct gripper poses. If the part moves to a different position, the system re-calibrates automatically and auto adjusts the pose of grippers to continue performing the skill.
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