Visual Servoing + Plug Insertion using FANUC arm.
The video demonstrates visual servoing on known objects to perform pick and insertion task. The arm used in the demonstrations is Fanuc LR Mate 200 id industrial robotic arm controlled. The visual servoing pkg is completely written from scratch (in python). SDK for Fanuc arm is also used with ROS2 support. The high level behaviour control of the insertion task is implemented using PyTrees (Behaviour Tree approach).