Repackaging
This example demonstrates how to use Tzara, the Telekinesis Physical AI Agent, to build a repackaging pipeline. Tzara generates code that picks parts from a vertical source grid (TCP pointing down) and places them horizontally in a destination grid — applying a 90-degree orientation flip during the transfer. An optional intermediate joint-space waypoint controls the IK branch during the flip to avoid singularities.
Demo
UR10e repackaging parts with a 90-degree orientation flip
The Natural Language Instruction
I have parts vertically placed in a grid that need to be picked and placed
horizontally in a new grid (requires a -90-degree flip between
pick and place around the y axis). Add an optional intermediate joint pose before the
flip. Add logging at each step.The Generated Code
python
# Pick-and-place pipeline: UR10e + OnRobot RG6
# Picks parts from a vertical grid (TCP pointing down) and places them
# in a horizontal grid (TCP rotated 90 deg) — flipping orientation during transfer.
import time
import numpy as np
from loguru import logger
from telekinesis.synapse.robots.manipulators.universal_robots import UniversalRobotsUR10E
from telekinesis.synapse.tools.parallel_grippers.onrobot import OnRobotRG6
# ============================================================
# Constants
# ============================================================
ROBOT_IP = "192.168.1.2"
GRIPPER_IP = "192.168.1.1"
GRIPPER_PROTOCOL = "MODBUS_TCP"
# Orientations (Euler XYZ degrees)
PICK_RPY_DEG = [180, 0, 90] # TCP pointing down
PLACE_RPY_DEG = [0.0, -90.0, -90.0] # HARD-CODED literal — do not compute
# Optional joint-space waypoint to force a specific IK branch during the flip.
# Set to None to skip.
INTERMEDIATE_JOINT_POSE_DEG = [90, -100.0, -115.0, -141.0, -90.0, 90.0]
# Home / safe joint pose (deg)
HOME_JOINT_POSE_DEG = [90.0, -90.0, -90.0, -90.0, 90.0, 0.0]
# ---- Source (vertical) grid: parts standing upright, gripper picks from above ----
PICK_GRID_ROWS = 4
PICK_GRID_COLS = 5
PICK_ORIGIN_XYZ = [0.0235, 0.86715, 0.21] # base position of first part (m)
PICK_ROW_PITCH = -0.0675 # spacing along Y (m)
PICK_COL_PITCH = 0.0675 # spacing along X (m)
PICK_APPROACH_OFFSET_Z = 0.100 # approach/retreat height above pick (m)
# ---- Destination (horizontal) grid: parts laid on their side ----
PLACE_GRID_ROWS = 5
PLACE_GRID_COLS = 4
PLACE_ORIGIN_XYZ = [-0.36323, 0.6682, 0.08] # base position of first slot (m)
PLACE_ROW_PITCH = -0.0601
PLACE_COL_PITCH = 0.046
PLACE_APPROACH_OFFSET_Z = 0.100 # approach/retreat height above place (m)
# Motion parameters
CART_SPEED = 0.65 # m/s
CART_ACCEL = 0.85 # m/s^2
JOINT_SPEED_DEG = 45.0 # deg/s
JOINT_ACCEL_DEG = 90.0 # deg/s^2
# Gripper parameters
GRIPPER_OPEN_WIDTH_MM = 60.0
GRIPPER_CLOSE_WIDTH_MM = 10.0
GRIPPER_FORCE_N = 40.0
# ============================================================
# Helper functions
# ============================================================
def generate_pick_poses():
"""Generate list of pick poses [x, y, z, rx, ry, rz] for the vertical source grid."""
poses = []
for r in range(PICK_GRID_ROWS):
for c in range(PICK_GRID_COLS):
x = PICK_ORIGIN_XYZ[0] + c * PICK_COL_PITCH
y = PICK_ORIGIN_XYZ[1] + r * PICK_ROW_PITCH
z = PICK_ORIGIN_XYZ[2]
poses.append([x, y, z] + list(PICK_RPY_DEG))
return poses
def generate_place_poses():
"""Generate list of place poses [x, y, z, rx, ry, rz] for the horizontal destination grid."""
poses = []
for r in range(PLACE_GRID_ROWS):
for c in range(PLACE_GRID_COLS):
x = PLACE_ORIGIN_XYZ[0] + c * PLACE_COL_PITCH
y = PLACE_ORIGIN_XYZ[1] + r * PLACE_ROW_PITCH
z = PLACE_ORIGIN_XYZ[2]
poses.append([x, y, z] + list(PLACE_RPY_DEG))
return poses
def _approach_pose(pose, dz):
"""Return copy of pose with z offset by dz (leaves orientation unchanged)."""
p = list(pose)
p[2] = p[2] + dz
return p
def pick_part(robot, gripper, pick_pose):
"""Execute pick sequence for a single part."""
approach = _approach_pose(pick_pose, PICK_APPROACH_OFFSET_Z)
logger.info("[1] Move to pick approach")
logger.debug(f" approach pose = {approach}")
robot.set_cartesian_pose(approach, speed=CART_SPEED, acceleration=CART_ACCEL)
logger.success("[1] At pick approach")
logger.info("[2a] Open gripper")
gripper.move(position=GRIPPER_OPEN_WIDTH_MM, force=GRIPPER_FORCE_N)
logger.success("[2a] Gripper opened")
logger.info("[2b] Move down to pick pose")
logger.debug(f" pick pose = {pick_pose}")
robot.set_cartesian_pose(pick_pose, speed=CART_SPEED, acceleration=CART_ACCEL)
logger.success("[2b] At pick pose")
logger.info("[2c] Close gripper to grasp")
gripper.move(position=GRIPPER_CLOSE_WIDTH_MM, force=GRIPPER_FORCE_N)
logger.success("[2c] Grasped")
logger.info("[2d] Retreat upward from pick pose")
robot.set_cartesian_pose(approach, speed=CART_SPEED, acceleration=CART_ACCEL)
logger.success("[2d] Retreated from pick")
def place_part(robot, gripper, place_pose):
"""Execute place sequence for a single part."""
approach = _approach_pose(place_pose, PLACE_APPROACH_OFFSET_Z)
if INTERMEDIATE_JOINT_POSE_DEG is not None:
logger.info("[3] Move to intermediate joint pose (IK-branch control during flip)")
logger.debug(f" intermediate q = {INTERMEDIATE_JOINT_POSE_DEG}")
robot.set_joint_positions(
INTERMEDIATE_JOINT_POSE_DEG,
speed=JOINT_SPEED_DEG,
acceleration=JOINT_ACCEL_DEG,
)
logger.success("[3] At intermediate joint pose")
else:
logger.info("[3] Skipped (INTERMEDIATE_JOINT_POSE_DEG is None)")
logger.info("[4] Move to place approach")
logger.debug(f" approach pose = {approach}")
robot.set_cartesian_pose(approach, speed=CART_SPEED, acceleration=CART_ACCEL)
logger.success("[4] At place approach")
logger.info("[5a] Move down to place pose")
logger.debug(f" place pose = {place_pose}")
robot.set_cartesian_pose(place_pose, speed=CART_SPEED, acceleration=CART_ACCEL)
logger.success("[5a] At place pose")
logger.info("[5b] Open gripper to release")
gripper.move(position=GRIPPER_OPEN_WIDTH_MM, force=GRIPPER_FORCE_N)
logger.success("[5b] Released")
logger.info("[5c] Retreat upward from place pose")
robot.set_cartesian_pose(approach, speed=CART_SPEED, acceleration=CART_ACCEL)
logger.success("[5c] Retreated from place")
def run_pipeline(robot, gripper):
"""Run the full pick-and-place pipeline across the grids."""
pick_poses = generate_pick_poses()
place_poses = generate_place_poses()
n_parts = min(len(pick_poses), len(place_poses))
logger.info(f"Starting pick-and-place pipeline for {n_parts} parts")
robot.set_joint_positions(
HOME_JOINT_POSE_DEG,
speed=JOINT_SPEED_DEG,
acceleration=JOINT_ACCEL_DEG,
)
for i in range(n_parts):
logger.info(f"===== Part {i + 1} / {n_parts} =====")
pick_part(robot, gripper, pick_poses[i])
place_part(robot, gripper, place_poses[i])
logger.success(f"===== Part {i + 1} complete =====")
logger.info("[6] Move to home/safe pose")
logger.debug(f" home q = {HOME_JOINT_POSE_DEG}")
robot.set_joint_positions(
HOME_JOINT_POSE_DEG,
speed=JOINT_SPEED_DEG,
acceleration=JOINT_ACCEL_DEG,
)
logger.success("[6] At home pose — pipeline complete")
# ============================================================
# Main
# ============================================================
def main():
robot = UniversalRobotsUR10E()
gripper = OnRobotRG6()
robot_connected = False
gripper_connected = False
try:
logger.info(f"Connecting to UR10e at {ROBOT_IP}")
robot.connect(ROBOT_IP)
robot_connected = True
logger.success("Robot connected")
logger.info(f"Connecting to OnRobot RG6 at {GRIPPER_IP} via {GRIPPER_PROTOCOL}")
gripper.connect(ip=GRIPPER_IP, protocol=GRIPPER_PROTOCOL)
gripper_connected = True
logger.success("Gripper connected")
run_pipeline(robot, gripper)
except Exception as e:
logger.exception(f"Pipeline failed: {type(e).__name__}: {e}")
finally:
if gripper_connected:
try:
logger.info("Disconnecting gripper")
gripper.disconnect()
except Exception as e:
logger.warning(f"Gripper disconnect failed: {e}")
if robot_connected:
try:
logger.info("Disconnecting robot")
robot.disconnect()
except Exception as e:
logger.warning(f"Robot disconnect failed: {e}")
logger.info("Cleanup complete")
if __name__ == "__main__":
main()