Milestone-3

Release Notes - Pick Place FSM v0.0.3 (release-3)

Overview

This release consolidates the FSM logic into a Python implementation, integrates DSL-based FSM generation, complete pick place sequence tested with perception nodes

Key Features & Changes

1. Python Package

• Removed C++ build targets (pick_place_fsm_mock, mock_servers_only) and dependencies (rclcpp, rclcpp_action) from CMakeLists.txt and package.xml.
• The package now installs the Python scripts pick_place.py, error_handling.py, and the FSM definition modules directly.

2. DSL-Based FSM Integration

• Integrated the auto-generated FSM logic from coord-dsl.
• FSM definitions (pick_place_py.fsm) and generated Python code (fsm_pick_place.py) are now core parts of the package.

3. Pick-Place Error Handling Case 1 : Object slip detection

• Object slip detection from the gripper during pick and place

Contributors and Discussions

• @ashleshp Issue
• @jetcanine

Milestone 2

1. Developed an FSM flow diagram.
2. Implemented a functional pick and place FSM based on the diagram.
3. Built a mock server to enable testing without hardware.
4. Verified functionality on the actual robot, successfully operates with the real hardware.
5. Future Plan : Integrate with 'Perception' to receive real poses from the camera instead of the mock topic.

Contributions
@jetcanine
@ashleshp