Services | PickNik

MOTION PLANNING

IDENTIFICATION OF BEST PATH PLANNING APPROACH

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Consulting on best algorithm to use for a given application and problem type

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Benchmarking of competing approaches for analytical analysis

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Implementation of novel algorithms and approaches

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Literature reviews and academic surveys

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Technology readiness level analysis and reporting

PROBABILISTIC/SAMPLING BASED METHODS

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Consulting and development of the Open Motion Planning Library (OMPL)

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Multi-query planners including PRM, LazyPRM, PRM*

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Single-query planners including RRT, RRTConnect, RRT*, T-RRT, and LazyRRT

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Asymptotically near-optimal planners including SPARS, SPARS2

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Projection-based methods including EST, KPIECE, AtlasRRT

OTHER MOTION PLANNING METHODS

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Search Based Planning Library (SBPL)

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Stochastic Trajectory Optimization for Motion Planning (STOMP)

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Covariant Hamiltonian Optimization for Motion Planning (CHOMP)

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Dynamic Motion Primitives

EXPERIENCE-BASED MOTION PLANNING

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Recall and repair of past plans for faster future planning

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More deterministic results

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Experts in Thunder, Bolt, and Lightning algorithms

ADVANCED INVERSE KINEMATICS

ANALYTIC SOLUTIONS

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Experts in both computationally and manually generated solutions

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Closed-form analytic solutions return complete solutions in microseconds

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6 degrees of freedom (DOF) and less solvers

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Consultation on mechanical design of robots

ITERATIVE METHODS

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Advice in choosing the best inverse kinematics solvers for your application

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Experts with off-the-shelf open-source KDL, LMA and Trac_IK solvers

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Customize inverse Jacobian methods, gradient projection method, heuristic method etc.

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Integrate complex constraints and behaviors in the null space

MULTIPLE ARMS

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Implementing IK solvers for arbitrary robot configurations with multiple arms and legs

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Support for with overlapping (shared) joints such as torsos

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Inverse kinematic solvers that satisfy multiple constraint functions such as Stack of Tasks and particle swarm optimization

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Motion planning with underconstrained waypoints that iteratively run IK

REAL-TIME CONTROL

CONTROL FRAMEWORKS

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Integration and customization of the ROS Control Framework

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Creation of custom controllers including position, velocity, and force controllers

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Integration of the OROCOS control framework

REACTIVE PLANNING

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Fast planners that are able to react and adjust to a changing environment

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Dual mode Cartesian and free-space planning algorithms for wide range of applications

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System wide performance benchmarking

COLLISION AVOIDANCE

PLANNING AROUND STATIC AND DYNAMIC OBSTACLES

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Modeling of static and dynamic environments as “Planning Scenes”

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Collision aware planning using virtual maps of the environment

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Avoidance of local minimum around obstacles while planning

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Experts with relevant libraries including the Flexible Collision Library (FCL), Octomaps, and the Point Cloud Library (PCL)

ROS FRAMEWORK DESIGN

SOFTWARE ARCHITECTING WITH ROS

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Consulting on best practices for standard ROS paradigms

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Training for internal development teams new to ROS

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Historical insights into design decisions and ongoing ROS shortcomings

ROS2 DDS MIDDLEWARE CONVERSION

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Assistance with converting legacy ROS packages to ROS2

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Expertise in ROS2 advantages and release status

HIGH-QUALITY ROS PACKAGES / STACKS

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Fully ROS compliant code repository setup and catkinization

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Documented, tested, and code-reviewed deliverables

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Continuous integration scripts and integration testing

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Nvidia GPU-enabled Docker containers for multi-platform support

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ROS C++ style guidelines, roslint, and catkin lint enforcement

2D NAVIGATION

MOBILE BASE NAVIGATION STACK

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ROS navigation stack integration, customization, and deployment

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Mobile base path and trajectory planning

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OpenSlam's Gmapping, Google Cartographer algorithms for SLAM-based tracking

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ROS-Control framework for switching between simulated a real-world environments

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Simulated Gazebo system of robot base navigation

VIRTUAL REALITY

IMMERSIVE ROBOT VISUALIZATIONS

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Iterate faster on hardware by testing new designs virtually before physical prototyping

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Deploy high situational awareness teleop environments

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Use ROS Rviz with off-the shelf 3D headsets like the HTC Vive and Occulus Rift

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Evaluate and plan your collaborative robot integration strategy in virtual reality

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Run Unity3D on Windows or Linux

ROBOT MODELLING

ASSEMBLY MODELLING

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Setup Solidworks assembly files to have proper mechanical mates and joint limits

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Setup coordinate systems for DH parameterization

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Create Interface Control Documents for consistent representation of the robot kinematics

URDF GENERATION

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Convert CAD files to compliant URDF specification

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Verification of joint limits and appearance in Rviz

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Integrate inertial properties for simulation in Gazebo

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Integrate actuator and controller properties for ROS Control

CAD PACKAGES

We are currently compatible with the following CAD packages:

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Solidworks 2017 / 2018

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OnShape

WORKSPACE ANALYSIS

REACHABILITY, USABILITY STUDIES

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Analysis of robot base placement with respect to workspace

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Determine starting poses for various tasks

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Reachability Maps

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Optimal arm placement

MACHINE LEARNING

IDENTIFICATION OF BEST MACHINE LEARNING APPROACH

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Consulting on best machine learning approaches to use for various applications

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Experience with wide variety of machine learning algorithms for a wide variety of tasks

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Implementation of novel algorithms and approaches

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Technical road-mapping

PERCEPTION PIPELINES

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Neural Network based perception systems

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SVD, Random Forests, Naive Bayes, etc...

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Sophisticated algorithm analysis

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Structured and Unstructured learning

DATA PIPELINE MANAGEMENT

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Dataset Generation and Labeling

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Feature Extraction and Data Munging

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ETL Pipelines using AWS and other Cloud based services