Abstract: Disclosed is a robot apparatus with a capable and highly maneuverable drive system incorporating two differential swerve drive pods. The robot apparatus further includes a claw mechanism for grasping an object, a passthrough mechanism for moving the object horizontally and a lift mechanism for moving the object vertically. The robot apparatus allows for rapid manipulation and movement of objects such as cones.

Abstract: Generating a routing system for a three-dimensional model of a real-world object includes specifying a set of connections, applying a filter to the connections to prevent more than one connection having the same first connector and the same second connector from being rendered more than once, creating geometric entities that are curves and that represent the connections, and displaying the routing system in a visually simplified manner by rendering the plurality of geometric entities. Additionally, the connections can automatically be merged into a harness bundle.