11th May 2023 Rush Meeting for ICRA 2023

[Woolfrey]

Coordinator:

• Jon @Woolfrey

Attendees:

• Vignesh @vigisushrutha23
• Andrea @andrearosasco
• Stefano @steb6

Absent:

• Simone @SimoneMic

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Daily Brief

Any new information that was discussed

Topic	Raised By	Tag	Outcome
Robot broke yesterday (10/05/23) in the evening.	@steb6 @andrearosasco		Might not be available for use on Thursday 11/05/2023
We have to prepare for a demonstration on Monday 15/05/23	@Woolfrey		We have iCub 2.7 as a backup. ergoCub will be used by AMI on Friday

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Reporting on Yesterday's Activities

These should be copied from yesterday's Action Plan

Person	Task	Tag	Results
@Woolfrey	Fix coding error for the move_hands_to_pose() function in the command server.		Completed and working.
@Woolfrey	Need to revert back to old grasp correction method	#85	Reverted back to old code and seems to work (ergoCub still dropped a box...)
@steb6	Reject grasp poses outside a particular region		Started implementation, need to test to fine tune parameters.
@andrearosasco	Test the gaze control on ergoCub	#24	Functioning, but the robot broke yesterday
@andrearosasco @Woolfrey	Double check hand transforms are accurate	#84	Seems to be working, was able to grab a box.
@andrearosasco @Woolfrey @steb6	Try to close the loop	#40	Robot broke so couldn't test.

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Today's Action Plan

These will become tomorrow's reporting

Person	Task	Tag
@steb6 @andrearosasco	Replicate iCub 2.7 demo with ergoCub (using prescribed grasp)	#50
@andrearosasco @steb6	Try to close the loop when grasping	#40
@Woolfrey	Implement singularity avoidance as a redundant task	#88
@vigisushrutha23	List materials that need to be uploaded	#53