The next Manipulation WG Meeting / MoveIt Maintainer Meeting will be 2023-06-22T15:00:00Z.
Agenda
- WorldMoveItDay 2023 Retrospective
- MoveIt Iron Artworks
- …
Meeting
Phone Numbers (US)
+1 347-486-5750
PIN: 644 991 049#
Notes:
Attendance:
- Alex Moriarty
- Paul Gesel
- Sebastian Jahr
- Tyler Weaver
- Cassidy Elliott
- Henning Kayser
- Sebastian Castro
- Jorge Nicho
- Chance Cardona
- Abishalini Sivaraman
Agenda:
- Sneak peek of the MoveIt Iron artwork
- World MoveIt Day retrospective
- Feedback from Paul (who participated):
- The difference in prize values made it a bit political/competitive, where people started gaming the system, inviting friends, trading votes, etc. Maybe equalizing the values in 1st/2nd/3rd place would help.
- Having ONLY community votes contributed to this, maybe consider also having a jury and/or PickNik engineers.
- Sebastian J: Could also have an audience favorite?
- Confusion about it being 1 (work) day vs. 24-hours to submit? Could have had more clarity about the submission deadline.
- Feedback from other teams on Discord:
- Members realized that the MoveIt 1 Python bindings offered a lot more than the MoveIt 2, so ended up defaulting to that.
- Should keep easy installability (e.g. pip or something similar like conda) of MoveIt 2 Python bindings on our radar.
- Surprised by what teams could pull off in one day… but would it make sense to have more of a long term challenge?
- Our onboarding experience is slow, could benefit from investing into that
- Current getting started guide is several pages of tutorials, could have a true “quick start” with just a few commands
- Lots of people fall back to building MoveIt from source, and then finding conflicts between source and binaries
- Issues with tutorials that we don’t really have a notion of latest vs. stable
- Could consider other packaging solutions like conda, snap, etc… but that may not be accessible to your average user who is already cognitively overloaded with ROS.
- NVIDIA Isaac Sim was cool, but not the most accessible to the general public as it requires an RTX graphics card.
- Henning pulled off a last-minute Gazebo configuration, but it was missing key things for the WMD theme – notably a camera for ML perception applications.
- Also uncovered some fixable bugs with use_sim_time in MoveIt Python bindings.
- Should there be a track / focus on MoveIt Studio where we give people free licenses?
- Wouldn’t make MoveIt Studio the focus, but it should be an option for those interested as we did this year.
- Paul had a good idea to focus on Behavior Trees / high-level behavior, but not necessarily MoveIt Studio.
- Could consider more targeted advertising of World MoveIt Day – we reached a wide audience, but wanted to also get more involvement from graduate students / researchers using MoveIt.
- Paul: Seems like there is more of an opportunity for students/researchers to learn about MoveIt/PickNik (they know about ROS). They tend to more often roll their own custom motion planning solution.
- What about running workshops at conferences like ICRA?
- Still lots of resistance upgrading to ROS 2, or even to the latest Ubuntu versions.
- Feedback from Paul (who participated):