Research Update Meeting 08/07/2024

[SimoneMic]

Chair:

• @SimoneMic

Attendees:

• @steb6
• @vigisushrutha23
• @PasMarra

Absent:

• @lornat75
• @andrearosasco

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Agenda:

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

Item	Tag	Responsible	Comment
Open ticket for automatic calendar update for robot bookings		@SimoneMic	Opened and ignored by IT
Vlmaps implemented on ROS2, working with good localized robot, tested on R1		@SimoneMic	Working on Ros2 map query and visualization
(MPC controller)in standby untill paper integration is finished		@vigisushrutha23
(standby) 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: connected oculus quest with hsp wifi. (Account management of oculus asked to Davide)		@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
Debugging grasping baselines for sudden wrist/hand movements on new setpoint		@PasMarra
Paper integration rejected: due to videos and experiment showcase, lack of human estimation		@SimoneMic @vigisushrutha23 @steb6
Changed bimanual to be able to handle parametric movements, instead of moving to prescripted poses		@vigisushrutha23
Create a fake (stuffed) cardboard box for integration video paper		@SimoneMic

Next Meeting:

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

Item	Tag	Responsible
Action item.	#Issue	@handle
Working on Ros2 map query and visualization		@SimoneMic
Finalizing integration of human estimation with Bimanual behavior (integration paper)		@vigisushrutha23
Debugging grasping-baselines		@PasMarra
Moving metacub to ergoCub from simulation		@steb6
(standby) Added error functions and Lapunyof based controller for the MPC. This is done for fixing the orientation optimisation. Working on writing the Lapunyov function in QP problem form		@Woolfrey @vigisushrutha23

Conclusions:

A summary of the meeting.