Research Update Meeting 22/07/2024

[SimoneMic]

Chair:

• @SimoneMic

Attendees:

• @vigisushrutha23
• @PasMarra (remote from train)
• @lornat75
• @andrearosasco

Absent:

• @steb6

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Agenda:

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

Item	Tag	Responsible	Comment
(VLM Navigation) Finished visualization ROS2 node: publishes markers of the queried item, on service call		@SimoneMic
(Integration Paper) Horizontal human estimate is not greately accurate, will improve it by estimating the human motion/intention		@vigisushrutha23 @steb6
(MPC controller) in standby untill paper integration is finished		@vigisushrutha23
(MPC controller) Finish the simpler version of the MPC controller for obstacle avoidance	https://github.com/Woolfrey/paper_fast_mpc/issues/3	@vigisushrutha23	Tuned planner parameters, introduce a orientation weight to the optimizer by john, working on implementing it on the code
(MetaCub) Moving metacub to ergoCub from simulation		@steb6
(Metacub) connected oculus quest with hsp wifi		@steb6
(Metacub) working very well on simulation, also the neck and figers. TODO: cartesian controller on the robot arm		@steb6	@PasMarra will be working on the cartesian control from next week
(Grasping Baselines) Debugging grasping baselines for sudden wrist/hand movements on new setpoint		@PasMarra
(Integration Paper) Create a fake (stuffed) cardboard box for integration video paper		@SimoneMic	still TODO
@andrearosasco Showed some ideas from the Summer School

Next Meeting:

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

Item	Tag	Responsible
Action item.	#Issue	@handle
(Integration Paper) interpolating the human TFs for predicting human motion		@vigisushrutha23
(Integration Paper) Improving reaction timing of the robot		@vigisushrutha23
(VLM Navigation) Apply ray-tracing to the whole pointcloud of the camera		@SimoneMic
(VLM Navigation) Improve computational speed		@SimoneMic
(Integration Paper) Create a fake (stuffed) cardboard box for integration video paper		@SimoneMic
(Grasping Baselines) Debugging grasping baselines for sudden wrist/hand movements on new setpoint (this is an improvement made by Pasquale, the goal is to generate joint trajectorirs from a NON-zero initial acceleration and speed)		@PasMarra
(MetaCub) Moving metacub to ergoCub from simulation		@steb6
(MPC controller) in standby untill paper integration is finished		@vigisushrutha23