Today was a very exciting day. In the morning we were jumping over the fences to save some time but in the end we could enter just by nine. We love the precision of Japanese people, they are even stricter than Germans in many cases. The previous sentence contains compliments for both cultures :).
Ivanna has a little bit of cold and decided to fight it with a vitamin inception through 2 liters of orange juice. That must be healthy. All in all it was a quite good day. TIAGo passed the security checks and cleaned the toilette and served in a future convenience store. We are exited about tomorrow and will go to our capsules early tonight. Later that day there was a surprise welcome reception with a lot of food, beer and sake like drinks involved. During the day we were provided with all of the needed setup information which turned out to be fully in fluent Japanese. After only a few hours of communication and questioning of a lot of people we finally figured out most of it. This was continued by team leader meetings held in Japanese. Luckily we got instant translations by our Happy Mini friends and visual input from a screen. We are coming along quite good and are now motivated to take some Japanese lessons.
TIAGo also starts preparing for the Storing and Disposal task. Here this is our custom prepared container. Note there are markers attached. That’s something we usually don’t do but it eases up things in this task a lot.
Today we are in the mood to post some slightly more technical pictures and we like to present our “recipe” for extracting toilet seats to clean.
- Step 1) Find planar surface in front of the toilet
- Step 2) Do some morphology to get a closed form of the toilet seat
- Step 3) And reduce it to a line
Those lines then serve as input for sampled trajectory points
- Step 4) Attack!
When you code all day and need to fix urgent things you get creative about the places and poses you code.
To be honest, a domestic environment like RoboCup@Home and the European Robotics League for Service Robots has it’s benefits in that case.
We have a lot of fun here and TIAGo improves every day in big steps. Let’s face some new challenges tomorrow.
Sadly Lukas doesn’t improve like TIAGo and faces new bug all time. This time posing on the official competition toilet.
Tome to go asleep.