Leveraging MOVEit for Object Inspection in Simulation

Herein we evaluate using a robotic arm with an attached camera to investigate objects of interest in simulation. Specifically, a Husky unmanned ground vehicle with a Panda Powertool was used in the simulation. The code enabled an operator to initiate a preconfigured set of motions when an object of interest was identified. The scan was stored in a database file that was used to generate a 3D mesh of the scanned object. The report describes both setting up the simulation and the code used to scan objects of interest. The goal of this paper is to develop a solution that is capable of performing detailed autonomous inspections on objects while an operator teleoperates a robot in a simulated environment. This goal must be achieved on two fronts: software and hardware. The software package must allow the teleoperator to initiate a separate data collection, when necessary, on an object of interest. In addition, a hardware package that can maneuver a sensor with great precision around the object of interest must be developed.