24.08.26 Progress Meeting

[Woolfrey]

Chair:

@Woolfrey

Attendees:

@Woolfrey
@ssutjipto

---

Announcements

Agenda

Note: Last week's actions become this week's agenda

Item	Responsible	Issue	Outcome
Integrate the dynamic control class with the new changes in the master branch	@Woolfrey	#133	Sheila pushed latest changes; need to integrate them.
Create issue for trajectory class	@ssutjipto	N/A	Resolved the issue already.
Continue testing	@ssutjipto	#128 #117	Joint control tested with UR robot. Works fine.

Additional Discussion

Topic	Raised By	Issue	Outcome
MuJoCo ROS2 interface running, as well as simple action server.	@Woolfrey	N/A	Sheila to install and test.

Actions

Action	Responsible	Tag
Implement Cartesian velocity control with ROS2 Action Server.	@Woolfrey	N/A
Integrate dynamic control code from Sheila	@Woolfrey	N/A
Implement dynamic control action server.	@ssutjipto	N/A

[Woolfrey]

Here are some videos of MuJoCo simulation with Robot Library & ROS2 action server:

Screencast.from.08-14-2024.05.57.24.PM.webm

Screencast.from.08-14-2024.06.10.48.PM.webm