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paraDocs

Team E Progress Review 3- Qilin Wu

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Reviewing our Goals

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Our Goals for PR3

  • Open3D registration with live camera feed, ROS2-Open3D Pipeline Complete
  • Test drill interfacing electronic circuit
  • Motion planning with MoveIt on physical KUKA
  • Manipulator avoids static obstacles in the planning scene

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People: Abhishek, Kimi

Result from Last PR

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Goal: Open3D registration with live camera feed,

ROS2-Open3D Pipeline Complete

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People: Abhishek, Kimi

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People: Abhishek, Kimi

Registration Results in RViz + Live Demo

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Goal: Test drill interfacing electronic circuit

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People: Shivangi, Paramjit

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Goal: Test drill interfacing electronic circuit

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People: Shivangi

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Goal: Test drill interfacing electronic circuit

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People: Shivangi, Paramjit

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Goal: Motion planning with MoveIt on physical KUKA

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People: Liwei, Paramjit,

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Goal: Motion planning with MoveIt on physical KUKA

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Goal: Manipulator avoids static obstacles in the planning scene

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Goal: Manipulator avoids static obstacles in the planning scene

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People: Shivangi

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Challenges & Issues

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Teaser integration failed due to version incompatibility

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Risk Management

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Risks Managed

  • Not being able to interface with off-the-shelf drill
  • Issue with MoveIt namespace resolved

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Risks to look out for

  • Drill motor might get disconnected from the shaft - need to tighten before.
  • Even essential ROS packages may make breaking changes which can cause your entire codebase to stop working.

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Future Work

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Future work

  • Arm can perform drilling motions
  • Perception pipeline integrated with the manipulation stack
  • Improve registration accuracy and speed
  • ROS interface with drill circuit

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Thank You and Break a Leg!

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