4 December 2023 Weekly Meeting

[Woolfrey]

Chair:

• Jon @Woolfrey

Attendees:

@vigisushrutha23
@Woolfrey
@steb6
@andrearosasco
@GiuliaP
@lornat75
@SimoneMic
@xEnVrE

Absent:

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Agenda:

Note: Last week's items should become this week's agenda.

Item	Tag	Responsible	Comment
Work on MPC code	N/A	@Woolfrey	Trajectory generation working. Now progressing to MPC class.
Finish docker & work on MPC	N/A	@vigisushrutha23	Many implementation issues, but steady progress. Almost complete.
Work on configuration files & docker implementation	N/A	@SimoneMic	Walking controller and gaze sweeping working; walking controller is very slow in Gazebo for unknown reason.
Test action recognition with simulation of ergocub-bimanual repository	N/A	@steb6	Run docker on ergoCub laptop.

Additional Discussion Points:

Anything not captured in the agenda.

Discussion Point	Tag	Raised By	Outcome
New ergoCub arrived, but there is a demo on Wednesday so we can't do testing	N/A	@Woolfrey	Testing to be done Tuesday, Thursday
Exosuit tested by AMI working on the new ergoCub, but according to Lorenzo & Mohamed the wrists aren't working	N/A	@vigisushrutha23 @lornat75	Possible to implement bottom grasp?

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Next Meeting:

Note: These will become the agenda for the next meeting.

Item	Tag	Responsible
Tuesday morning to test action recognition & basic joint control	#140	@Woolfrey @steb6
Check if YARP has been installed with compression algorithms with ergoCub	N/A	@steb6
Work on MPC code for RA-L paper	N/A	@Woolfrey @vigisushrutha23
Schedule rush meetings to complete end-of-year-demo	N/A	@Woolfrey

[Woolfrey]

Update on MPC

Cubic polynomial interpolating working in C++:

Trajectory generation for mobile robot working in C++:

When moving in a straight line the (x,y) coordinates are incorrect:

It's likely a problem with the rotation between the local frame and global frame....

EDIT: Fixed it!