  The FetchIt! Mobile Manipulation Challenge, held at the IEEE International
Conference on Robots and Automation (ICRA) in May 2019, offered an environment
with complex and integrated task sets, irregular objects, confined space, and
machining, introducing new challenges in the mobile manipulation domain. Here
we describe our efforts to address these challenges by demonstrating the
assembly of a kit of mechanical parts in a caddy. In addition to implementation
details, we examine the issues in this task set extensively, and we discuss our
software architecture in the hope of providing a base for other researchers. To
evaluate performance and consistency, we conducted 20 full runs, then examined
failure cases with possible solutions. We conclude by identifying future
research directions to address the open challenges.
