Difference between revisions of "VVV15 tasks"

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It would be nice to have a similar interface in Gazebo, for more info please check https://github.com/robotology/gazebo-yarp-plugins/issues/159 .
It would be nice to have a similar interface in Gazebo, for more info please check https://github.com/robotology/gazebo-yarp-plugins/issues/159 .
==== Add Windows support ====
The latest version of Gazebo comes with (experimental) Windows support ( http://gazebosim.org/blog/gazebo_on_windows ).
We still did not try the gazebo-yarp-plugins on Windows, as probably this would require some work on how Gazebo is supporting the loading of external plugins. For more info please check https://github.com/robotology/gazebo-yarp-plugins/issues/74#issuecomment-102297508 .


=== Subtask 3.2 Smartphone in the loop ===
=== Subtask 3.2 Smartphone in the loop ===

Revision as of 10:01, 22 July 2015

Task 1: Interactive Object Learning ++

Contributors (alphabetical order): (Alessandro, Lorenzo, Ugo, Vadim)

The interactive object learning demonstration could be improved in many ways:

Subtask 1.1: Add some human-robot interaction components

Contributors:

  • Look around to gaze at people (Reza's work)
  • Learn and recognize faces with a more natural robot interaction (Vadim's work)

Subtask 1.2: Smartphone in the loop

Contributors (alphabetical order): (Alessandro, Francesco R., Vadim) This also links to SubTask 3.2

  • Speech analysis and send commands to the robot
  • Object recognition

Task 2: Evaluate real-time extensions in complex motor control tasks

Contributors: Ali, Lorenzo, Silvio?, Francesco(?), Luca?, Enrico?

Robots: iCub & Coman

Subtask 2.1 Perform fine tuning of control loops in complex tasks using real-time extensions in YARP

Subtask 2.2 This discussion also involves the design and development of a real-time execution layer for the robotinterface

Task 3: Improve the platform as we know it

Subtask 3.1 Improve Gazebo Simulator

Add a full simulation of the eyes' system

The iCub Gazebo simulation is currently lacking a way of simulating the moving eyes of iCub.

Further details on this task can be found in https://github.com/robotology/gazebo-yarp-plugins/issues/149 .

Add a full simulation of the hands' system

The iCub Gazebo simulation is currently lacking a way of simulating the hands of the iCub.

Further details on this task can be found in https://github.com/robotology/gazebo-yarp-plugins/issues/197 .

Add world interface

iCub_SIM has an handy yarp RPC interface for creating/deleting objects.

It would be nice to have a similar interface in Gazebo, for more info please check https://github.com/robotology/gazebo-yarp-plugins/issues/159 .

Add Windows support

The latest version of Gazebo comes with (experimental) Windows support ( http://gazebosim.org/blog/gazebo_on_windows ).

We still did not try the gazebo-yarp-plugins on Windows, as probably this would require some work on how Gazebo is supporting the loading of external plugins. For more info please check https://github.com/robotology/gazebo-yarp-plugins/issues/74#issuecomment-102297508 .

Subtask 3.2 Smartphone in the loop

Contributors (alphabetical order): (Alessandro, Francesco R., Randazzo, Vadim)

YARPdroid will pave the way...

...and iOSYARP will try to keep up!

Task 4: Event-driven iCub development

Contributors (alphabetical order): (Arren, Chiara, Samantha, Valentina)

Subtask 4.1 Interactive iCub Demonstration

Incorporating recent work with event-driven Optical Flow and Ball tracking with existing iCub modules to perform the 'red-ball demo' using the event-driven cameras. Any coloured ball could be used. (collaboration with Alessandro/Ugo/Vadim?)

Subtask 4.2 Integration of iCub with SpiNNaker

Integrating the DVS event-based sensor with parallel event-based processing using the SpiNNaker hardware, for visual attention and control of the iCub

Task 5: Development for COMAN

Contributors (alphabetical order): (Enrico MH, Luca M)

Subtask 5.1 From Simulation to Real Robot

Develop simple tasks first in GAZEBO Simulator and then move to the real robot.

Subtask 5.2 Use OpenSoT in COMAN

Develop simple high level tasks involving OpenSoT and COMAN.

Subtask 5.3 Use OpenSoT in iCub

Develop simple high level tasks involving OpenSoT and iCub.