Transcript Emma report

Emma Research
Before Christmas
• Simulation and Experiment Comparison of
grasping metric for paper abstract
– Code to calculate grasping metric
– Code to handle contact points for experiment
– Update vision code to handle case with seating
process
– Problem: no well calibrated parameter, handadjusted
Before Christmas
• Mug Grasping Simulation for Proposal
Example
– Set up the mug grasping simulation scenario
– Switch to non-graphical mode and large amount
trials on different settings of parameters
After New Year
• A series of experiment of three different shapes
• Vision code to handle new shape to calculate the
geometry information
• Vision code update to better accommodate video
with new shape
Hopefully Jeremy could benefit from the new
experiments and new code for better parameter
calibration
Next
• Restore DVC’s visual debug feature
• Figure out more experiments for the paper
• Get familiar with Dakota