Issues Log

	A	B	C	D	E	F	G	H
1	Issue Number	Date Found	Date Fixed	Change made by (Andrew ID)	Origin	Description	Resolution	Artifact(s) changed
2	1	2/5/2022	2/15/2022	apavani2	Gripper design issues	Frictional force in the gripper was inadequate. Another issue: gripper fingers started bending outwards when carrying heavy containers.	Made the extender and finger as a single part. Provided draft angle on gripper fingers. Added foam padding to the inner side of the fingers. Most issues will be resolved once an aluminium part is fabricated.	Gripper design
3	2	2/1/2022	2/24/2022	apavani2	Delay in gripper fabrication	Difficult to block time with Tim in order to get the Gripper manufactured in Aluminium.	Tim agreed to get the fabrication started on 3/1/2022. We will push the dates of our test cases accordingly.	Gripper manufacturing
4	3	2/20/2022	2/25/2022	saishrub	RGB Marker Pose estimation accuracy is not satisfactory	The 6DOF pose of the Marker had a lot of noise in the Z-axis orientation since only RGB data with PnP method was used.	Implemented a depth pointcloud based technique that uses optical flow for better tracking.	Perception codebase
5	4	03/15/2022	03/27/2022	nevinv	Autonomous pick and place	Container slides across the shelf as the gripper closes	Redid the hand-eye calibration to eliminate the co-ordinate transform error	Pick and place pipeline calibration
6	6	03/24/2022	04/04/2022	msakthiv	Dispensing controller	Difficulty in generating high frequency shaking motion to replicate human pouring behaviour	Tried different frequency and amplitude values to generate different shaking motions. Finetuned the hyperparameters to get the ingredient dispensing within set tolerance limits	Ingredient dispensing
7	7	03/22/2022	04/10/2022	msakthiv	Dispensing controller	Time delay and spike measurements(during impact) from weighing scale	Added assertions to ensure that the weight measurements are not too old	Ingredient dispensing
8	8	04/15/2022	Ongoing	msakthiv	Dispensing controller	During shaking there is drift in the robot position due to open loop control	In progress	Ingredient dispensing
9	9	04/20/2022	11/02/2022	msaishrub	Ingredient Validation	Possible overfitting in ingredient validation model	Collected data without tags nd re-trained the model	Ingredient validation
10	10	10/12/2022	10/18/2022	harshita	State machine	Container was hitting the shelf when putting it back at the same position	Added a pre-release pose much like pre grasp to execute a smooth repeatable motion for all container positions	Pick and place pipeline
11	11	11/02/2022	11/02/2022	harshita	State machine	The weighing scale reading for ingredient container was not accurate during Inventory Update Step	Added delay of 3 seconds for weight to settle from disturbance caused by robot arm putting container on weighing scale	State Machine Codebase
12	12	11/03/2022	11/03/2022	harshita	State machine	Container weight was not taken into account during inventory update	Reduced 100g for container weight	State Machine Codebase
13	13	11/06/2022	11/08/2022	apavani2	Hardware	Liquid Containers drip when dispensing long term	Better sealing while installing spout	Hardware
14	14	09/20/2022	10/13/2022	saishrub	Perception: Spectral Camera	The spectral camera only has a Windows SDK. The provisions to sort between spectral readings are part of a paid cloud service.	An additional windows PC has been added to the setup. It communicates with the main Ratatouille PC through TCP and shares the spectral data. Additionally, we have developed our own algorithm to sort between different ingredients using spectral data.	System setup, Perception Codebase
15	15	09/05/2022	09/29/2022	saishrub	Perception: Ingredient data collection	It is a bottleneck for training and is a very slow process.	Developed an automated data collection tool for easy and fast data collection	Perception Codebase
16	16	10/05/2022	11/05/2022	msakthiv	Dispensing controls	Ingredient impact on cooking pot causes spikes in the weight data leading to incorrect dispensing	Minimal filtering has been done to avoid the spikes. Additional filtering would lead to delay.	Controls Codebase
17	17	11/05/2022	11/15/2022	msakthiv	Dispensing controls	Dispensing is delayed when the container fill level is low	Fixed with learning-based methods for some ingredients	Controls Codebase
18	18	11/14/2022	11/20/2022	saishrub	Spectral Camera	Spectral readings not consistent because the container and spectral camera have a gap during measurement	Made a change in logic to ensure better contact	State Machine Codebase
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