MoveIt

Mentors: Student: Sangtaek

The problem I'm addressing is the lack of simulator options in MoveIt. I propose to conduct a comparative analysis of available simulation backends with a particular focus on the MuJoCo simulator as a potential alternative. There will be primarily two deliverables: a report comparing available simulation backends and repositories consisting of MuJoCo ROS plugin and the examples built on top of that.

Mentors: Student: Cihat Kurtuluş Altıparmak

Project aims to integrate rmw_zenoh middleware to MoveIt2 and benchmark its effects on MoveIt2 project in points of message latency, performance of large data like pointcloud and how affects performance in situation number of topic etc. is changed. To modify CI jobs in a way being able to make it testable and benchmarkable for each ros middleware is also one of the aims of this project.

Mentors: Student: Aditya kami

This document details a proposal to integrate the Kinematic Trajectory Optimization capabilities of Drake with Moveit! It proposes three projects that build on top of each other to expose Drake’s powerful optimization specification language to perform local planning - DiffIK, Inverse Kinematics - Optimization based IK and global planning - Kinematic Trajectory Optimization. It proposes implementing these functionalities as Moveit! plugins, and details the exact classes in Drake that need to be exposed via these plugins.

Mentors: Student: ibrahiminfinite

The current MoveIt Servo has enabled users to utilize reactive control. However, in its current implementation MoveIt Servo only provides a ROS interface to users. While the ROS interface is very versatile, it can also be a bottleneck for users who need harder real-time performance guarantees. There are also many aspects of the software design of the package itself that can be improved. This project proposes to re-implement MoveIt Servo with the following: - Improved readability - Extensibility - Performance - Support for end-effector pose as input. - Improved C++ Interface support

Mentors: Student: Cristian C. Beltran-Hernandez

MoveIt currently only supports the execution of one robot trajectory (although the trajectory can involve multiple planning groups, e.g. two arms). However, to run e.g. a robot works cell efficiently, each robot arm has to move independently. I have started working on this project last year during an internship at OMRON SINIC X. However, there is still plenty of work to do before this feature is mature enough and compatible with MoveIt's mainstream branch. Concrete steps: 1) Use MoveIt's code standards. 2) Address the compatibility issue. Define a workflow to allow users to use this new feature without enforcing it on everyone. 3) Optimize our previous approach to make it faster and safer to use with robots moving at high speeds. 4) Document the approach, as well as, generate test cases for MoveIt's Continuous Integration system.