12th May 2023 Rush Meeting for ICRA 2023 #89

Woolfrey · 2023-05-12T08:01:15Z

Woolfrey
May 12, 2023
Maintainer

Any new information that was discussed

Topic	Raised By	Tag	Outcome
There is an issue with the left wrist of the ergoCub which makes grasping difficult. A stable grasp is currently being achieved by grasping the box between the right hand and left forearm/wrist. This could limit the ability of the ergoCub to perform manipulation tasks.	@steb6		iCubTech is apparently aware of this issue, but it will take time to fix.

These should be copied from yesterday's Action Plan

Person	Task	Tag	Results
@steb6 @andrearosasco	Replicate iCub 2.7 demo with ergoCub (using prescribed grasp)	#50	Replicated iCub2 demo on ergoCub, but there are issues with left wrist which makes grasping difficult. iCubTech is investigating.
@andrearosasco @steb6	Try to close the loop when grasping	#40	Need to add waypoints for grasping then test.
@Woolfrey	Implement singularity avoidance as a redundant task	#88	Implemented, had some issues, reworked code. Need to load gain on redundant task as a parameter.
@vigisushrutha23	List materials that need to be uploaded	#53	Requirements can be found in the tagged issue.

These will become tomorrow's reporting

Person	Task	Tag
@steb6 @Woolfrey	Open issue on .txt file causing compile issues with the thrift interface
@Woolfrey	Fix the config file to load redundant task parameter
@Woolfrey	Fix the DLS singularity avoidance	#35
@Woolfrey	Check the timing input error on trajectory generation	#90
@Woolfrey	Return action / state of controller from the command server
@steb6 @andrearosasco	Look at ideas from workshop for easy things to implement
@andrearosasco @steb6	Book ergoCub next week for further testing & implementation
@Woolfrey @steb6 @andrearosasco	Send required information to Vignesh	#53
@vigisushrutha23	Post content / draft on GitHub	#53