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MoveIt Community

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MoveitCon 2023

Tyler Weaver, Henning Kayser

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A Year of Major Contributions

Unifying Parameter Approach

Tyler Weaver

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Parallel Planning

Sebastian Jahr

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STOMP Reimplementation

Henning Kayser

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Iron Release

Henning Kayser

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GSoC: Python Bindings

Peter David Fagan

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Isaac Integration

Marq Rasmussen & Jafar Abdi

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GSoC: IK Benchmarking

Mohamed Raessa & Sebastian Castro

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GSoC: Servo Refactor

Mohammed Ibrahim & Sebastian Castro

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Parallel Planning

Semi-autonomous choice of the most�suitable planner for a given problem

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  • Customizable stopping criteria
  • Stop when the first solution is available
  • Stop after all planners used their full planning time budget

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  • Customizable solution selection
  • Use the shortest solution
  • Use the solution with minimal motion in joint X
  • Good default but no “real” optimization
  • “Blindly” create many solutions and choose the best one
  • Best solution is not better than the best individual solution

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STOMP

Stochastic Trajectory Optimization for Motion Planning�

  • Finds smooth collision free paths using probabilistic optimization
  • Starts with an initial (maybe infeasible) guess
  • The initial path is iteratively optimized by minimizing individual waypoint costs over randomized samples
  • Advantages:
    • Cost function does not need to be differentiable
    • Can incorporate additional cost terms

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World MoveIt Day

2nd ChatGPT to Plan

1st vision to 5 finger gripper pose

CUDA collision checking

Segment Anything to Pick

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66 Contributors to MoveIt 2 Repo

Abhijeet Das Gupta, Abhijeet Dasgupta, Abishalini Sivaraman, Adam Pettinger, Alex Webb, AndyZe, Anthony Baker, Ashton Larkin, azalutsky, Captain Yoshi, Carlo Rizzardo, Chance Cardona, Chris Thrasher, Christian Henkel, Cory Crean, David V, Erik Holum, Ezra Brooks, Filip Sund, Gaël Écorchard, Henning Kayser, Heramb Modugula, HX2003, Ikko Eltociear, Jafar, Jens Vanhooydonck, Jonathan Grebe, Jorge Nicho, Joseph Schornak, Kyle Cesare, light-tech, Lucas Wendland, Marco Magri, Mario Prats, Marq Rasmussen, Matej Vargovcik, Michael Ferguson, Michael Görner, Michael Wiznitzer, Nacho Mellado, Nathan Brooks, Pablo Iñigo, Peter David Fagan, Rayene Messaoud, Robert Haschke, Rufus Wong, Sameer Gupta, Sami Alperen, Salah Soliman, Scott K Logan, Sebastian Castro, Sebastian Jahr, Shane Loretz, Shobuj Paul, Simon Schmeisser, Solomon Wiznitzer, Stephanie Eng, Tyler Weaver, V Mohammed Ibrahim, Vatan Aksoy, Will, Yadu, Yang Lin

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29 New Contributors this Year

Abhijeet Das Gupta, Abhijeet Dasgupta, Abishalini Sivaraman, Adam Pettinger, Alex Webb, AndyZe, Anthony Baker, Ashton Larkin, azalutsky, Captain Yoshi, Carlo Rizzardo, Chance Cardona, Chris Thrasher, Christian Henkel, Cory Crean, David V, Erik Holum, Ezra Brooks, Filip Sund, Gaël Écorchard, Henning Kayser, Heramb Modugula, HX2003, Ikko Eltociear, Jafar, Jens Vanhooydonck, Jonathan Grebe, Jorge Nicho, Joseph Schornak, Kyle Cesare, light-tech, Lucas Wendland, Marco Magri, Mario Prats, Marq Rasmussen, Matej Vargovcik, Michael Ferguson, Michael Görner, Michael Wiznitzer, Nacho Mellado, Nathan Brooks, Pablo Iñigo, Peter David Fagan, Rayene Messaoud, Robert Haschke, Rufus Wong, Sameer Gupta, Sami Alperen, Salah Soliman, Scott K Logan, Sebastian Castro, Sebastian Jahr, Shane Loretz, Shobuj Paul, Simon Schmeisser, Solomon Wiznitzer, Stephanie Eng, Tyler Weaver, V Mohammed Ibrahim, Vatan Aksoy, Will, Yadu, Yang Lin

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PickNik Contributors

Abhijeet Das Gupta, Abhijeet Dasgupta, Abishalini Sivaraman, Adam Pettinger, Alex Webb, AndyZe, Anthony Baker, Ashton Larkin, azalutsky, Captain Yoshi, Carlo Rizzardo, Chance Cardona, Chris Thrasher, Christian Henkel, Cory Crean, David V, Erik Holum, Ezra Brooks, Filip Sund, Gaël Écorchard, Henning Kayser, Heramb Modugula, HX2003, Ikko Eltociear, Jafar, Jens Vanhooydonck, Jonathan Grebe, Jorge Nicho, Joseph Schornak, Kyle Cesare, light-tech, Lucas Wendland, Marco Magri, Mario Prats, Marq Rasmussen, Matej Vargovcik, Michael Ferguson, Michael Görner, Michael Wiznitzer, Nacho Mellado, Nathan Brooks, Pablo Iñigo, Peter David Fagan, Rayene Messaoud, Robert Haschke, Rufus Wong, Sameer Gupta, Sami Alperen, Salah Soliman, Scott K Logan, Sebastian Castro, Sebastian Jahr, Shane Loretz, Shobuj Paul, Simon Schmeisser, Solomon Wiznitzer, Stephanie Eng, Tyler Weaver, V Mohammed Ibrahim, Vatan Aksoy, Will, Yadu, Yang Lin

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To the Moon!

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Open Source Project Planning

Weekly Developer Standup

Tuesdays, 8:30AM Mountain Time

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Monthly Working Group /

MoveIt Maintainer Meeting

4th Thursday, 9AM Mountain Time

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All contributors are welcome! Request an invite via henningkayser@picknik.ai

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Get Involved!

Apply for GSoC 2024

12+ weeks focused programming�Mentored by MoveIt maintainers�Details will be shared end of 2023

Contribute to Open Source

Review and file PRs

Engage in issue discussions

Join the meetings

Become a Core Contributor or Maintainer