22/02/01 RobotLibrary Development Meeting

[Woolfrey]

Chair:

• Jon @Woolfrey

Attendees:

• Jon @Woolfrey
• Sheila @ssutjipto

Agenda:

Item	Tag	Responsible	Comment
Consistency of Link Indexing	#14	@ssutjipto	Resolved with new RigidBody and Joint classes.
Derivatives of Jacobian Not Matching	#13	@ssutjipto	Resolved with #14.
Kinematics & dynamics calcs	#2	@ssutjipto	Need to follow up with new RigidBody, Joint classes.
New RigidBody, Joint class	N/A	@Woolfrey	Implemented and working.

Next Meeting:

Item	Tag	Responsible
Follow up on calcs with new RigidyBody, Joint classes.	#2	@ssutjipto
Add debugging support.	N/A	@ssutjipto
Add Null Space projection to control class(es)	N/A	@Woolfrey
Create new repository for Gazebo / ROS simulation	N/A	@Woolfrey
Formalize meeting minutes somehow in gitub.	N/A	@Woolfrey
Merge main < devel < new	#2	@ssutjipto, @Woolfrey

Conclusions:

• All code to be merged to main after @ssutjipto confirms calculations match KDL. Then work to be continued from devel branch.
• Need to start on Gazebo simulation through ROS to begin testing and implementing the RobotLibrary.