Transcript Emma report

This week
• Implemented support point friction visual
debug
• Finish NCP solver
• Re-calibrated the experiments in the paper
– Square fingertip case (so utilize ncp alone)
– Calibration result improved, error sum falls down
– New comparison video can be found in
http://www.cs.rpi.edu/~zhangl15/graspingexps/4
_NCP_CALIBRATION/
This week
• Understood Binh’s nonconvex method
• Implemented nonconvex method(debugging )
– Soon to finish
P.s. Not a complete implementation (use old polypolyforEgan collision detection, two
edges at most ), but should be good to use for the round fingertip
Next work
• Finish nonconvex implementation
• Re-do the roundfingertip case