2016-10-06 Meeting notes

Date

06 Oct 2016

Attendees

• Jhanani Selvakumar

• Donghyun Kim

• Jaemin Lee
• Adam Allevato

Goals

Discussion items

Action items

• Adam Allevato: Defined specifications (with Marcelino, Donghyun et al.) and put on wiki (mission control). Please fill in tasks. Need a node listed for every actions. Next week: help mission control. 
• Jhanani Selvakumar compared qpOASES solver with NLOPT, determined qpOASES is faster. Wrote a new class to compute reaction forces using qpOASES. Needs debugging. Not balancing potentially due to bad weights. Needs to push code. Facing gradient problems and reaction force calculations
• Jaemin Lee: Discussed about integration methods last Sunday. Programming ROS publisher for task specifications(Motion task / locomotion task), including Orion's Ros publisher for Visualization_tool. C++ ROS for Srlib.
  
• Rahul Moghe: Started implementing Ye's paper on locomotion. 
• Andrei Marchidan: Continued work on sensor verification. Tried implementing a Gazebo and a ROS control plugin on the RRbot model but I have encountered errors that I am currently debugging. 
• Donghyun Kim: [20161006] Balance and Hand Motion Control in srSimulator srlib starts to work. TODO: Implement walking controller based on Phase Space Planner & Optimal Control
  
• Walt: Integrate Footstep Planner. Used Marcelino's spline generator to make foot step splines. Integrate with Adam's. 
• Marcelino Mendes De Almeida Neto - Matlab simulink. Getting plots
• Dorothy - starting to work on planning. goals for next week: where the GUI people are. Still need more on interactive markers
• Orion - Help talked about requirements for mission control. Think about user-interface. Build request generating features. Visualize arbitrary joint states by next week.
• Minkyu - trying to make b-spline function for COM generation. Interfacing with SRlib and mission control.
• Junhyeok - finished integrating valkyrie to SRLIB. Organize srlib code.