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Vision-guided beverage restocking in simulation: ROS 2, MoveIt, and deterministic authority.

Documentation
A restocking run in the simulated workcell (no hardware involved). See the introduction for details.

Introduction

The retail restocking problem, the baseline scenario, the robot and workcell, with schematics and 3D models inline.

How to run

Set up the Nix environment, launch simulation and baseline compositions, drive demos, and run acceptance tests or benchmarks.

Architecture

Control path, ports, and trust boundaries after you know what is being controlled. Fundamentals covers ROS, Gazebo, and MoveIt if you need them.