To verify the reliability of our motion planning system, we did a series of runs in Gazebo simulation and real hardware. We recorded the time to execute policy, the number of automatic replans, the number of manual replans triggered by the user, and whether it passed or failed. If it failed, we reported why it failed. The goal was to pass 4 out of 5 runs and we have met that goal in both real and sim.
On the perception side, we did some data collection to see what the best parameters would be for the pipeline. The conclusion was:
- 15 FPS @ 1080p for 60s → fastest pipeline without loss in reconstruction quality
- Median filtering (frame-to-frame) + SOR (final output) → best denoising with calibrated camera
