Issue number	Date found	Date fixed	Owner	Subsystem	Origin	Description	Resolution	Artifact changed
1	1/1	2/10	Pallavi	Perception	Flower Detection	Sparse Datasets	1. Found dataset 2. Collecting own dataset	Timeline
2	1/5	1/20	Pallavi, Aditya	Perception	Camera	The camera on the bot will not satisfactorily detect points of interaction	Additional camera	1. Integration 2. POI detection
3	1/5	1/15	Vaidehi, Steven	Customized tool	Harvester tool	Cutter and gripper axes were opposite each other limiting the effective tool area	Change design	Design
4	2/7		Steven	Navigation	Incorrect Localization	The robot is unable to localize and reach goal point using default factory packages.	Trial using third party packages/self developed software	Navigation Software
5	2/9	2/24	Pallavi, Steven	Customized tool	Cutting tool	Does not perform uniformly	Replace motor with Dynamixel motor	Motor
6	2/10	2/15	Aditya	Perception	Dataset	Wrong labels in flower dataset	Removed those images from the dataset	Dataset
7	2/15		Bruce, Vaidehi	Manipulation	FUNMAP	FUNMAP publishing coordinates too slow
8	2/15		Bruce	Manipulation	FUNMAP	Unable to locate 3D coordinates
9	2/15		Vaidehi	Manipulation	MoveIt	MoveIt not storing goal poses
10	2/15	2/20	Pallavi	Perception	Jetson	Jetson crashed	Updated packages and reinstalled	Jetson
11	2/12	2/13	Pallavi	Integration	Aruco markers, camera	Aruco markers not detected	Original aruco markers to be used	Aruco marker
12	2/13	2/28	Pallavi	Integration	Aruco markers, camera	Pose estimation is off	Calibrate the cameras	Camera calibration
13	2/15	3/1	Pallavi, Vaidehi	Customized tool	Gripper	Motor goes into overload shutdown	PWM enabled based on force feedback	Tool
14	2/15	2/20	Vaidehi	Customized tool	Tool	Robot end effector does not reach the height of plant	Change design by adding L structure	Tool operation
15	2/20	3/12	Vaidehi	Customized tool	Gripper integration	Gripper motor not homing when integrated with Hello robot	Check homing script and try alternative calibration approaches	Tool
16	2/25	3/25	Pallavi, Aditya	Perception	Jetson	Jetson not connecting to wifi	Buy new wifi dongle	Jetson
17	3/5	3/26	Pallavi, Vaidehi	Customized tool	Tool	Wacc board (and as a result, wrist) is not working	Get replacement, use the substitute bot for trials on wacc board as it is sensitive	Robot
18	3/23	3/24	Pallavi, Steven	Perception	Wrist camera	Disconnected TF tree for wrist camera	Add urdf of the camera to the bot’s wrist	Robot
19	3/20	4/1	Pallavi, Aditya	Perception	Bounding box	Coordinates of the box(x and y) are not accurate		1. Navigation 2. Manipulation
20	2/28	3/28	Steven	Navigation	LiDAR Pot Detection	Sparse point cloud due to reflectivity of black plant pots	Spray painted the pots to a much more reflective color	Environment
21	3/8	9/7	Steven	Navigation	Poor Go-toGoal Performance	Controller requires loose thresholds to perform	Change to ROS built in navigation local planner	Navigation Software
22	3/27	9/7	Steven	Navigation	Exisiting MoveBase from Hello-Robot not Configured for Stretch RE1	Planner robot system parameters do not reflect actual performance	Manually update parameters after in-lab performance testing of robot	Navigation Software
23	3/30	10/7	Aditya	Perception	Python version incompatibility	Can’t run python3 script with ROS Melodic	Install core ros packages for python3 and build opencv_bridge from source	Jetson software
24	4/20	11/7	Vaidehi, Pallavi	Manipulation and Customized tool	Motor commands dropping	Frequency difference between stretch driver and pimu	Sleep commands, search for more solutions	Stretch driver
25	4/20	11/7	Vaidehi	Customized tool	Harvester does not cut	Enough motor torque is not provided	Problem started arising after integration, find root cause of problem	Stretch driver
26	4/20		Vaidehi, Pallavi	Manipulation, Customized tool	Synchronous movements of robot	The robot lift, wrist extension and tool work together	Sleep commands, search for more solutions	Stretch driver
27	11/7		Pallavi	Manipulation	Lift, base and arm error	Slight errors in lift, base and arm.	Position servoing	Stretch driver
28	10/20		Steven	Navigation	Odometry is drifting	This affects all subsystems	Odometry correction	Navigation
29	11/5		Vaidehi	Tool	Tool detected as cluster	Tool is red in some areas, and results in being detected as a cluster (rejected later but this must be eliminated entirely)	It has to be spray painted	Tool
30	10/9	11/1	Vaidehi, Pallavi	Tool	Ping is failing	Stretch driver has access to the tool, so while tool script is running with stretch driver there are access issues	Tool integrated as part of stretch driver	Tool as a part of stretch driver
31	11/2	11/5	Vaidehi, Pallavi	Tool	Maintaining torque	The tool sometimes does not maintain its torque	PWM mode switching to position mode	Tool as a part of the stretch driver
32	11/2	11/7	Aditya	Perception	Cluster location	Cluster location is not accurate/outdated	Camera head turns to get more accurate reading	Stem localization
33	11/7		Aditya	Perception	Stem localization	It is not accurate	Need to debug	Stem localization