IRIS — Intelligent Robotics and Interaction System

Work in Progress — Active Development

IRIS is an embodied robotics project focused on integrating perception, manipulation, planning, and intelligent autonomy into a unified robotic system.

Overview

IRIS is a full-stack robotics system being developed around:

• 3D-printed 6-DOF robotic arm for manipulation
• Multi-camera perception pipeline for tracking and scene understanding
• ROS 2 + MoveIt for robot control and motion planning
• Classical + AI vision methods including OpenCV, YOLO, and optical flow
• Agentic planning concepts for higher-level autonomous task execution

The long-term goal is to build an embodied robotic system capable of perception-driven interaction and intelligent task execution.

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Current Status

This project is under active development.

Current work includes:

• Robotic arm integration
• Dual-camera perception pipeline
• Object tracking and world-state modeling
• ROS communication architecture
• Motion planning experiments
• Agentic control exploration

Documentation, architecture, and code structure may change frequently.

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Planned System Components

IRIS
├── Perception
│   ├── Multi-camera vision
│   ├── Object detection/tracking
│   └── World modeling
│
├── Manipulation
│   ├── 6-DOF robotic arm
│   ├── Motion planning
│   └── Grasp execution
│
├── Control
│   ├── ROS 2 interfaces
│   ├── MoveIt integration
│   └── Perception-to-action pipeline
│
└── Intelligence
    ├── Agentic planning
    ├── Decision making
    └── Autonomous task execution

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Tech Stack

• Python
• C++
• ROS 2
• MoveIt
• OpenCV
• YOLO

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Roadmap

• Core robotic arm control
• Dual-camera perception integration
• Tracking + world-state representation
• Vision-guided manipulation
• Agent-based task planning
• Autonomous manipulation demos

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Repository Status

This repository currently serves as:

• Development workspace
• Research/prototyping environment
• System architecture repository
• Ongoing documentation of project evolution

More structured documentation and demos will be added as the project matures.

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Notes

IRIS is currently an experimental long-term robotics project under active iteration.

Updates, demos, and expanded documentation will be added progressively.