Internal:Jbutterf weekly agenda

From Brown University Robotics

(Difference between revisions)
Jump to: navigation, search
(Agenda for May 10)
Line 10: Line 10:
===Paper Outline===
===Paper Outline===
-
I've branched a new icra folder in the rlabsvn/trunk/docs/ which contains my new draft of the experimental section. I want to add some pictures from tonight's experiments, then I'll upload a pdf.
+
I've branched a new icra folder in the rlabsvn/trunk/docs/ which contains my new draft of the experimental section. Here's a pdf [[File:icra.pdf]]. The relevant changed section is IV-b.
==Agenda for May 3==
==Agenda for May 3==

Revision as of 15:26, 18 May 2010

Contents

Agenda for May 10

Hbase

The Hbase data processing functionality continues to grow as I add more features based on what I need. I'll put up some documentation on how to use it and make a stable version available to the lab this week.

PR2 teleop video

Are Sarah and I supposed to be putting together a polished teleop video? If so we need to do video interviews of the students involved soon, because they leave soon. I heard a rumor Dan Byers was back and may be in charge of this. What's your game plan on this?

Nao Data Collection

I've developed a two piece assembly task (a precursor to the building a gate task) which I can reliably complete using a top down view. I'm figuring out how to run and log blobs from two cmvision nodes at once. I hope to have data collected and a video of the task later tonight.

Paper Outline

I've branched a new icra folder in the rlabsvn/trunk/docs/ which contains my new draft of the experimental section. Here's a pdf File:Icra.pdf. The relevant changed section is IV-b.

Agenda for May 3

Hbase

An initial version of the hbase database is up and running with ros nodes for logging and printing data. Obviously printing data is not particularly useful. We'll be working on creating some python modules which will allow the user to sync and map the data. The package is currently checked into brown-ros-pkg in the experimental section.

Collecting Nao data

Currently it is too difficult to grab the object from merely the visual info from the robot. I am experimenting with providing top down views.

Agenda for May 10

Hbase

I've developed a basic class structure for the data processing module. A TableBrowser allows you to see what sessions are available and various meta data about those sessions. It can also load any number of Sessions (a second class) and allows you to call various filtering techniques on all of the sessions at once. I'm still concerned with the problems that occur if the database is not such down properly. I think this is the main obstacle between us and using the system as it stands now.

PR2 teleop video

I redid the PR2 video for the nao teleop. After seeing Sam's video for the ar-tag based control, I'm doing something similar with screen capturing side by side video feeds of the simulator and the operator. Check it out at flikr. It was a huge pain to get this into a format so that my Mac could play it and it could upload to Flikr. I'm starting an Internal:Video Uploading page where we can share tips on how to do this stuff. Especially now that we have the Macs here so we can have a standardized pipeline.

Revising algorithms

Per your suggestion, I'm putting this project on hold.

Agenda for May 3

Hbase

An initial version of the hbase database is up and running with ros nodes for logging and printing data. Obviously printing data is not particularly useful. We'll be working on creating some python modules which will allow the user to sync and map the data. The package is currently checked into brown-ros-pkg in the experimental section.

Collecting Nao data

Currently it is too difficult to grab the object from merely the visual info from the robot. I am experimenting with providing top down views.

Revising algorithms

After an excellent conversation with Eric about his objections to my model, I have a better understanding of the differences between several of the approximations I was making. He's given me several references to read, in addition to rereading several of the papers I've already read. I'm working on a new implementation of the model in my free time, which will allow me to try multiple sampling strategies.

Agenda for April 26

Collecting Nao data

Version two of the bench is now complete to new specifications. After experimenting with collecting data on the original bench, I revised the specifications. I'll be collecting new data tonight with robot bench 2.0.

Revising algorithms

I've been working through the blocked sampling implementation for doing inference over the models. I've emailed Eric to set up a meeting to talk over a few questions that I have about the technique.

PR2 Teleop

PR2 Teleop now works. It allows control of most of the degrees of freedom in the arm, control of the gripper, and control of the head.

Agenda for April 19

PR2 Teleop

The Nao Teleop controller for the pr2 now can control both arms, the head, and the grippers. Using the bumpers on the feet you can control which gripper you are controlling and also can lock either arm in place. There will be video available later tonight.

Collecting Nao data

The bench is almost built, I've cut about half the pieces of pvc pipe I need and the rest will be done by tonight. I'll film video of the Nao building the two simplex for our meeting tomorrow.

Revising algorithms

I intend to talk to Eric about possible revisions to my algorithm which would please him.


Agenda for April 12

PR2 Teleop

I'm working on getting the Nao teleop to control the pr2. I've installed the pr2 message types and I'm working on figuring out the joint translations to replicate the naos joint positions with the pr2. I expect to have this completed for friday.


Collecting Nao Data

I'm also working on spec-ing out the bench for the Nao. We're debating the merits of getting it printed with a rapid prototyper or building it out of available parts from home depot. I'm headed there tonight to shop for parts. My goal for this week is to collect 20 examples of building a 2-simplex using the new desk setup. As I already have existing infrastructure for learning from this data, I'll also segment and run the controller from this data to try and determine how well it covers the space.