{"id":249,"date":"2015-10-31T00:22:23","date_gmt":"2015-10-31T04:22:23","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamd\/?page_id=249"},"modified":"2017-05-05T08:37:33","modified_gmt":"2017-05-05T12:37:33","slug":"status-updates","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamd\/status-updates\/","title":{"rendered":"Status Updates"},"content":{"rendered":"
Spring Semester Status Updates<\/strong><\/div>\n
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PR11 Presenter: Rick Shanor — 03<\/strong><\/strong>\/30\/16<\/strong><\/div>\n
1) Run full 12 bin picking test in 15 minutes<\/div>\n
2) Present testing results on 5 random shelf configurations<\/div>\n
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PR10 Presenter: Abhishek Bhatia — 03\/16\/16<\/strong><\/strong><\/strong><\/div>\n
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1) Redo Kinect calibration to improve the deviation of the full system<\/div>\n
2) Integrate the SBPL arm planner<\/div>\n
3) Add the ability to precompute trajectories and replay them at runtime<\/div>\n
4) Finish the turntable to autonomously collect and segment images<\/div>\n
5) Train Segmentation and Identification CNNs<\/div>\n
6) Conduct Failure-mode effects analysis of each subsystem to improve<\/div>\n
robustness<\/div>\n

\"FM<\/a><\/div>\n<\/div>\n

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PR9 Presenter: Lekha Mohan — 02\/24\/16<\/strong><\/strong><\/div>\n
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1) Demonstrate UR5 accessing the APC configuration space autonomously (Feroze and Alex)<\/div>\n
2) Evaluate deviation in localization with the integrated system – Kinect, UR5 and shelf (Rick)<\/div>\n
3) Develop grasping model for 5 items (Lekha)<\/div>\n
4) Run Perch with last year\u2019s APC items (Rick)<\/div>\n
5) Model one item from the 2015 APC database using SimTrack (Feroze)<\/div>\n
6) Perform Kinect kinematic calibration (Alex and Abhishek)<\/div>\n<\/div>\n<\/div>\n
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PR8 Presenter: Feroze Naina — 02\/10\/16<\/strong><\/strong><\/div>\n
<\/div>\n
1) Identify localization of shelf using the Kinectv2
\n2) Display CAD models for new suction gripper, Kinectv2 mount, and UR5 base
\n3) Display new suction gripper prototype
\n4) Demonstrate ability to add objects to collision planner from our SMACH framework
\n5) Rerun FVE demonstration using UR5 platform in simulation
\n– Migrate system from PR2, ROS Groovy, and Ubuntu 10.04 to UR5, ROS Indigo, and Ubuntu 14.04
\n– Create custom URDF to include suction end effector and Kinectv2 in motion planning
\n– Demonstrate ability to read Amazon’s provided JSON work order<\/div>\n
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PR7 Presenter: Alex Brinkman — 01\/27\/16<\/strong>
\n<\/strong><\/div>\n
Review progress from Winter break<\/div>\n
– Migration from PR2 to UR5<\/div>\n
– Integration of perception pipeline into ROS Framework<\/div>\n
– End effector redesign<\/div>\n
– Integration demonstration<\/div>\n<\/div>\n
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Fall Semester Status Updates
\n<\/strong><\/div>\n
Goal for Week of 11\/16\/15:<\/strong><\/div>\n
Presenter: Rick Shanor<\/strong><\/div>\n
Progress Review 5<\/a><\/div>\n
Suction<\/div>\n
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