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Weekly Progress Update: Enhanced NCP Solver and Nonconvex Method Implementation

This week, significant advancements were made in the development of our NCP solver and nonconvex methods. We improved calibration results, reducing the error sum after re-calibrating the experiments described in our paper. A new comparison video is available for review at our project link. We also implemented an initial version of Binh's nonconvex method, which will soon be completed. Moving forward, we aim to finish the nonconvex implementation and revisit the round fingertip case for further refinements.

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Weekly Progress Update: Enhanced NCP Solver and Nonconvex Method Implementation

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  1. 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/

  2. 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

  3. Next work • Finish nonconvex implementation • Re-do the roundfingertip case

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