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This study focuses on the comparison of grasping metrics through simulation and experimentation. It includes code for calculating grasping metrics and managing contact points, along with updates to vision code to accommodate various shapes and improve video integration. To address the challenge of parameter calibration, especially in hand adjustments, a mug grasping simulation was set up. The project will explore different shapes and their geometric information, ultimately aiding future experiments and enhancing the visual debugging features of DVC.
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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, hand-adjusted
Before Christmas • Mug Grasping Simulation for Proposal Example • Set up the mug grasping simulation scenario • Switch to non-graphical modeand 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
