Checklist for work to be done

[AjSat]

• [ ] Test the hardcoded MPC component on the yumi robot. - Ajay
• [ ] Make the fast controller decay to zero if MPC is slower than sampling time.
• [ ] Create a meta-model of the MPC. (include ports, information on how to access and modify all states, variables and parameters, dynamics function and monitors). - Ajay
• [ ] Contribute to templates: Contour following, time-optimal path planning. - Alejandro
• [ ] Rewite task prototype such that we automatically figure out the type of constraint (inequality, equality, lub) - Ajay
• [ ] Add documentation and functionality on how to use the analytical derivatives. - Alejandro
• [ ] Geometric Jacobian. - Alejandro.
• [ ] Refactor MPC file. - Ajay.
• [ ] Add ability to create and load obstacles in the environment. - Alejandro.
• [ ] Add DDP using FATROP. - (Alejandro and Ajay)
• [ ] Add json interface with the MPC meta-model for automatic configuration of ports and monitors for Orocos. - Ajay and Alejandro.
• [ ] Add json interface with the MPC meta-model for automatic configuration of ports and monitors for ROS2. - Alejandro and Ajay.
• [ ] Ability to add tools to the end-effector with this reflected in the Fwd/Inv dynamics computation. - Alejandro

[AjSat]

@alejandroastudillo I added an additional task related to adding tools to the end-effector.

[alejandroastudillo]

@alejandroastudillo I added an additional task related to adding tools to the end-effector.

I think such feature should wait until Pinocchio's Python bindings are fully integrated in Tasho.

[alejandroastudillo]

Added functionality to use analytical derivatives of rigid-body dynamics in Tasho. Not yet for kinematics derivatives.

[AjSat]

@alejandroastudillo I added an additional task related to adding tools to the end-effector.

I think such feature should wait until Pinocchio's Python bindings are fully integrated in Tasho.

Are these bindings available publicly in some branch of Pinocchio?

[AjSat]

@alejandroastudillo I added an additional task related to adding tools to the end-effector.

I think such feature should wait until Pinocchio's Python bindings are fully integrated in Tasho.

This is not a priority for me atleast because I do not use robot dynamics in my MPC.