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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

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this week
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 week1
This week
  • Understood Binh’snonconvex 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
Next work
  • Finish nonconvex implementation
  • Re-do the roundfingertip case
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