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At PickNik, we care about the quality of your robotic system. We listen to your needs and tailor our services to ensure smooth delivery of highly-quality solutions.

Read on to learn more.
MOTION PLANNING
IDENTIFICATION OF THE BEST PATH PLANNING APPROACH
Consulting services to use the ideal algorithm for a given application and problem type
Benchmarking competing approaches for analytical analysis
Implementation of novel algorithms and approaches
Reviewing current literature and academic surveys for cutting edge solutions
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
Trajectory Optimization (TrajOpt)
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 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
7 degrees of freedom or more solvers
Advice in choosing the best inverse kinematics solvers for your application
Experts with off-the-shelf open source KDL, LMA, and TracIK 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 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 a 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
Continuous collision checking approaches
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
ROS FRAMEWORK DESIGN
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


HIGH-QUALITY ROS PACKAGES / STACKS
Fully ROS-compliant code repository with best practices
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 and 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, Gazebo, and 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's​ ​kinematics


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


MESH COLLISION OPTIMIZATION
Defeature and reduce mesh complexity
Reduce triangle count on meshes
Create bounding convex decompositions of meshes
Convert to coarse grain geometric primitives for highest speed optimizations


CAD PACKAGES
We​ ​are​ ​currently​ ​compatible​ ​with​ ​the​ ​following​ ​CAD​ ​packages:
Solidworks
OnShape
WORKSPACE ANALYSIS
REACHABILITY & USABILITY STUDIES
Analysis of robot base placement with respect to workspace
Determine starting poses for various tasks
Reachability Maps
Optimal arm placement

MULTILINGUAL
MULTI-LINGUAL ROBOTS
C/C++ for high performance cross-platform code
Python - Wrap existing C/C++ functionality in the most common ROS scripting language
Matlab - Prototype new algorithms or use codegen to run your code in C as a standalone app

ROS 2 INTEGRATION
WE SPEAK BOTH ROS AND ROS2
Expertise in ROS2 enabling technologies and release status
Build your application on the next generation of ROS and future-proof your work
Utilize industrial-grade features for enterprise systems
Improved distributed robotic system support
Quality of service guarantees for tough communication environments
WE CAN CONVERT YOUR CODE WITH EASE
Convert your ROS applications and their dependencies to ROS2
Migration to DDS, Colcon, & Managed Nodes
Expanded industrial-grade features
Future-proof your work

CLOUD INTEGRATION
AMAZON ROBOMAKER AND GOOGLE CLOUD INTEGRATION
Easily develop and deploy robotic fleets at scale
Remote monitoring, logging, and control
Improved cloud-based visual and speech recognition
Simulation service to accelerate application testing

WEB-BASED ROBOT CONTROL
MODERN PLATFORM-AGNOSTIC FRONT-ENDS
Develop React and Python apps to your robotic system
Leverage the latest web standards and technologies
Remote monitoring via video feeds and full situational awareness
Connecting to ROS via rosbridge