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Carologistics Team Meeting September 25, 2018
Agenda
- Retrospective: Die Zukunft ist Heute in Austria
- good organization, good field
- footage available, including drone footage
- moderation with 2 people on field (clearly visible for viewers)
- other teams
- ER-Force got C0 production running
- Grips stabilized their performance
- Carologistics
- offset problems when positioning
- gripping failed once and flipped the product away
- gripping worked most of the times fine
- relabeled cap station in refbox (cs1 to cs2), applying the wrong point cloud model to machines gives bad results
- cap station problems like usual (wrong machine states)
- Router crashed once
- bug of exploration phase (getting stuck sometimes) got fixed
- problem with one laser
- real sense segfaults
- goto got stuck when destination lays inside of an obstacle (fix this on skill level)
- network simulation works (in simulation and real world)
- event will be done again in the future (probably every other year)
- Work for the future
- robot memory
- make the system more stable (also hardware wise)
- speed up the vision
- laser calibration
- Gripper Updates + Vision
- Speed is an issue (currently >40 seconds for putting or getting a product)
- ease up the alignment steps
- reactive approach to prevent unnecessary alignments?
- align gripper and robot at the same time?
- Gripper
- New design: 2 static fingers, spring to push the product against them
- a lot of tolerance in depth
- New Iteration: avoid gripping from above (not solved yet)
- point cloud models at AGVR not working properly
- Suggestion of Nick: record point clouds for debugging
- Redsign the Arduino code
- Speed up gripper motors in the future
- use a planning approach for gripper movements?
. mount real sense to the base of the gripper?
- Vision
- maybe use evolutionary learning approach
- too slow currently
- pipeline old vision, use as initial estimate for the new vision
- enable real sense earlier
- Hardware Replacements
- maybe new lasers + mounts, Nick tries to work some magic
- maybe free 3D printing in the future (Daniel works on that)
- Laptop of R-1 is causing problems (probably SSD)
- have spare SSDs for every laptop
- negotiate with Magazino for more sponsoring money/directly give hardware
- Replace attachment of Tag Vision
- Replacement for the wifi setup?
- Hackathon
- Playing Field Update
- Code Cleanup + Merging
- GitHub Migration
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