ss22-pour-feedback's People
ss22-pour-feedback's Issues
Document assumptions about experimental (pre-pour) setup
The following information are expected, please add anything else that you think would be relevant
- robot configuration and pose
- containers location (in-hand and on table)
- container material
- (simulated) "liquid" properties
Implement control algorithm/architecture
This is expected for the minimum viable product (MVP) to be demonstrated at midterm. It may look something like this:
def ctrl(target, feedback, gains, **kwargs):
while condition:
actuation = compute_actuation(target, feedback, gains)
ctrl_robot(actuation)
Please think about the different variational points that can influence the design of your software. Some of these are:
- Timing requirements if the control algorithm involve differentiation and integration of the error signal (just
sleep()
won't work) - What if you want to use a different control algorithm, how to reuse the code when you have different
compute_actuation()
implementations and differentgains
- What are your assumptions about the properties of the feedback and actuation signals? Do you have to change the implementation significantly if these assumptions change?
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