22/03/27 RobotLibrary Development Meeting

[Woolfrey]

Chair:

• Jon @Woolfrey

Attendees:

• Jon @Woolfrey
• Sheila @ssutjipto

Agenda:

Item	Tag	Responsible	Comment
Follow up on nullspace projection, check J*N == 0	N/A	@Woolfrey	Looks like it's implemented, but needs testing
Look into creating a new project board that spans the RobotLibrary and ROS package	N/A	@Woolfrey	Created new project board, Sheila added as contributor
Create new feature branch for debugging.	N/A	@ssutjipto	Busy with UTS projects
Add support and instructions for debugging	N/A	@ssutjipto	Busy with UTS projects
Joint limit avoidance in Control class	N/A	@Woolfrey	Weighted inverse working, need to modify task scaling
Demoting outstanding Issues to Notes in the project page	N/A	@Woolfrey	Closed #16 and #9

Additional Discussion Points

Discussion Point	Raised By	Tag	Outcome
CubicSpline reinvented, Quintic classes replaced with Polynomial	@Woolfrey	N/A	New base class for polynomials.

Next Meeting:

Item	Tag	Responsible
Add Sheila to serial_link and trajectory repositories.	N/A	@Woolfrey
Create milestone for debugging tasks	N/A	@ssutjipto
Remove task scaling for joint limit avoidance	N/A	@Woolfrey
Close off already completed issues in new project	N/A	@Woolfrey
Set up new workflows for reviews in project board	N/A	@Woolfrey
Type up calculations for polynomial trajectories	N/A	@Woolfrey
Create milestone for Inverse Kinematics (check out IPOPT)	N/A	@ssutjipto
Create milestone for QR solver	N/A	@Woolfrey
Close off old project	N/A	@Woolfrey

Conclusions

• We will work from the new beta project from now that synthesizes RobotLibrary, serial_link, and trajectory repositories
• New Polynomial class greatly simplifies trajectory generation
• We need to get stuff working because there are people that need our help!