GSoC 2015 Steve Ataucuri R9

What do I have completed this week?

• Adjust parameters of robotiq hand(Controllers , joint limits, kinematics) Tried to move the robotiq hand Looking for how to execute the planned trajectory by user using the neuro values. I couldn't execute it, I wrote some test but it doesn't work. In this point I am working around of these topics: "/rviz/moveit/select_planning_group" "/rviz/moveit/plan" "/rviz/moveit/execute". When the user plans a trajectory other script can execute it, this solution can be to use moveit and the mindwave or using "The Joint Trajectory Action" (actionlib) method without using moveit.

What am I going to achieve for next week?

• Continue improving moveit parameters to move the arm and the hand to a desired pose.
• Fix some bugs of moveit

Is there any blocking issue?

• Yes, I have some problems with the config parameters of moveit, it crashes many times I think the reason is the urdf and xacro files and controllers.