Current Work • • WAM Repair – Lots of issues with the electronics – replaced optical encoders with magnetic ones, now may have to replace safety board. – Going to need some of the control codes in my Simulink model but hopefully won't be too bad... – Wonder if we should re-cable other joints once the electronics work properly Estimate for Truss – ~ $175. Sounds much better. Have not heard back about when they will do the work, hopefully soon What's Next Hopefully get the truss up soon, and get the WAM back so we can make more progress on those. Analyze the grasp data we collected. What to do about the fingertips not quite touching the block? Grasping Experiments