Please visit the final-code branch and navigate to /me314_pkg/me314_py/xarm_planner to check out our Python and ROS2 node setups and code.
The code for each task is located in the following python files:
Pick and Place: pick_and_place.py
Peg in Hole: peg_and_hole.py
Dollar Bill Pickup: dollar_bill.py
Coin Pickup: coin_pickup.py