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At PickNik, we care about the quality of your robotic system. We listen and tailor our services to ensure smooth delivery of highly-capable kinematics and motion planning solutions. Read on to learn about the services that Picknik offers.
MOTION PLANNING
IDENTIFICATION OF BEST PATH PLANNING APPROACH
Consulting on best algorithm to use for a given application and problem type
Benchmarking of competing approaches for analytical analysis
Implementation of novel algorithms and approaches
Literature reviews and academic surveys
Technology readiness level analysis and reporting


PROBABILISTIC/SAMPLING BASED METHODS
Consulting and development of the Open Motion Planning Library (OMPL)
Multi-query planners including PRM, LazyPRM, PRM*
Single-query planners including RRT, RRTConnect, RRT*, T-RRT, and LazyRRT
Asymptotically near-optimal planners including SPARS, SPARS2
Projection-based methods including EST, KPIECE, AtlasRRT


OTHER MOTION PLANNING METHODS
Search Based Planning Library (SBPL)
Stochastic Trajectory Optimization for Motion Planning (STOMP)
Covariant Hamiltonian Optimization for Motion Planning (CHOMP)
Dynamic Motion Primitives


EXPERIENCE-BASED MOTION PLANNING
Recall and repair of past plans for faster future planning
More deterministic results
Experts in Thunder, Bolt, and Lightning algorithms
ADVANCED INVERSE KINEMATICS
ANALYTIC SOLUTIONS
Experts in both computationally and manually generated solutions
Closed-form analytic solutions return complete solutions in microseconds
6 degrees of freedom (DOF) and less solvers
Consultation on mechanical design of robots


ITERATIVE METHODS
Advice in choosing the best inverse kinematics solvers for your application
Experts with off-the-shelf open-source KDL, LMA and Trac_IK solvers
Customize inverse Jacobian methods, gradient projection method, heuristic method etc.
Integrate complex constraints and behaviors in the null space


MULTIPLE ARMS
Implementing IK solvers for arbitrary robot configurations with multiple arms and legs
Support for with overlapping (shared) joints such as torsos
Inverse kinematic solvers that satisfy multiple constraint functions such as Stack of Tasks and particle swarm optimization
Motion planning with underconstrained waypoints that iteratively run IK
REAL-TIME CONTROL
CONTROL FRAMEWORKS
Integration and customization of the ROS Control Framework
Creation of custom controllers including position, velocity, and force controllers
Integration of the OROCOS control framework


REACTIVE PLANNING
Fast planners that are able to react and adjust to a changing environment
Dual mode Cartesian and free-space planning algorithms for wide range of applications
System wide performance benchmarking
COLLISION AVOIDANCE
PLANNING AROUND STATIC AND DYNAMIC OBSTACLES
Modeling of static and dynamic environments as “Planning Scenes”
Collision aware planning using virtual maps of the environment
Avoidance of local minimum around obstacles while planning
Experts with relevant libraries including the Flexible Collision Library (FCL), Octomaps, and the Point Cloud Library (PCL)
ROS FRAMEWORK DESIGN
SOFTWARE ARCHITECTING WITH ROS
Consulting on best practices for standard ROS paradigms
Training for internal development teams new to ROS
Historical insights into design decisions and ongoing ROS shortcomings


ROS2 DDS MIDDLEWARE CONVERSION
Assistance with converting legacy ROS packages to ROS2
Expertise in ROS2 advantages and release status


HIGH-QUALITY ROS PACKAGES / STACKS
Fully ROS compliant code repository setup and catkinization
Documented, tested, and code-reviewed deliverables
Continuous integration scripts and integration testing
Nvidia GPU-enabled Docker containers for multi-platform support
ROS C++ style guidelines, roslint, and catkin lint enforcement
2D NAVIGATION
MOBILE BASE NAVIGATION STACK
ROS navigation stack integration, customization, and deployment
Mobile base path and trajectory planning
OpenSlam's Gmapping, Google Cartographer algorithms for SLAM-based tracking
ROS-Control framework for switching between simulated a real-world environments
Simulated Gazebo system of robot base navigation
VIRTUAL REALITY
IMMERSIVE ROBOT VISUALIZATIONS
Iterate faster on hardware by testing new designs virtually before physical prototyping
Deploy high situational awareness teleop environments
Use ROS Rviz with off-the shelf 3D headsets like the HTC Vive and Occulus Rift
Evaluate and plan your collaborative robot integration strategy in virtual reality
Run Unity3D on Windows or Linux
ROBOT MODELLING
ASSEMBLY MODELLING
Setup​ ​Solidworks​ ​assembly​ ​files​ ​to​ ​have​ ​proper​ ​mechanical​ ​mates​ ​and​ ​joint​ ​limits
Setup​ ​coordinate​ ​systems​ ​for​ ​DH​ ​parameterization
Create​ ​Interface​ ​Control​ ​Documents​ ​for​ ​consistent​ ​representation​ ​of​ ​the​ ​robot​ ​kinematics


URDF GENERATION
Convert​ ​CAD​ ​files​ ​to​ ​compliant​ ​URDF​ ​specification
Verification​ ​of​ ​joint​ ​limits​ ​and​ ​appearance​ ​in​ ​Rviz
Integrate​ ​inertial​ ​properties​ ​for​ ​simulation​ ​in​ ​Gazebo
Integrate​ ​actuator​ ​and​ ​controller​ ​properties​ ​for​ ​ROS​ ​Control


CAD PACKAGES
We​ ​are​ ​currently​ ​compatible​ ​with​ ​the​ ​following​ ​CAD​ ​packages:
Solidworks​ ​2017​ ​/​ ​2018
OnShape
MACHINE LEARNING
IDENTIFICATION OF BEST MACHINE LEARNING APPROACH
Consulting on best machine learning approaches to use for various applications
Experience with wide variety of machine learning algorithms for a wide variety of tasks
Implementation of novel algorithms and approaches
Technical road-mapping

PERCEPTION PIPELINES
Neural Network based perception systems
SVD, Random Forests, Naive Bayes, etc...
Sophisticated algorithm analysis
Structured and Unstructured learning
DATA PIPELINE MANAGEMENT
Dataset Generation and Labeling
Feature Extraction and Data Munging
ETL Pipelines using AWS and other Cloud based services