24.09.23 Progress Meeting

[Woolfrey]

Chair:

@Woolfrey

Attendees:

@ssutjipto

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Announcements

N/A

Agenda

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

Item	Responsible	Issue	Outcome
Test existing MuJuCo simulation	@ssutjipto	N/A	A colleague in Warwick got MuJoCo & ROS2 running. See comments below.
Implement dynamic control action server.	@ssutjipto	N/A	Not yet completed.
Start loading joint configurations from YAML files	@Woolfrey	N/A	Not yet completed; too busy.
Add videos for Cartesian velocity control on real robot	@ssutjipto	N/A	Sent via Signal; need to put on GitHub

Additional Discussion

Topic	Raised By	Issue	Outcome

Actions

Action	Responsible	Tag
Loading joint configurations from YAML files to be used by ROS2 action client	@Woolfrey	N/A
Test MuJoCo simulation (see notes below)	@ssutjipto	N/A
Implement dynamic control action server	@ssutjipto	N/A

[Woolfrey]

@ssutjipto keep in mind when running MuJoCo:

• You need to change the directory for the .xml scene files (they are set to my local directory) in the ROS2 launch file
• Make sure to use the devel branch of RobotLibrary
• Use ros2 launch for the action server, but use ros2 run for the client (had issues with command prompts when using launch)