Labbook UvA @ Home 2024

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Started Labbook 2025.

Pepper has been repaired at the RoboCup. Tested the microphones with the Sound Location box in Choregraphe 2.5.10.7, which works. Yet, Pepper reported a problem with its camera during startup.
After a reboot it works. The Opening Lab42 behavior also works, although it seems that it is using Dutch Language to say English text.
Stopped the behavior, executed the Set Speech Language box and after that the Opening Lab42 works perfectly.

Nvidia launched two developments for humanoid robots: project GR00T and Jetson Thor for Humanoid Robots.
Project GR00T will come available in Q2 (too late for graduation?)
Isaac ROS 3.0 is also coming soon. One promising part is cuMotion, which is meant for path-planning, extending the MoveIt planner. Not clear how this relates to Isaac Manipulator
The Release Notes have as last entry Nov. 16.
One of the most recent updates are resources for camera calibration.
The calibration board is really huge:
This calibration board is used in the Nova Extrinsics Sensor Calibration Tool.
Isaac SDK v2.0 has a calibration tool for 3D LIDAR combined with a depth camera.
There are also pages for the Isaac ROS ZED Calibration
There is only one officialy supported Isaac ROS robot. The Nova Carter has a rich sensor suite, including an OWL fisheye camera
No docker installed on my WSL 20.04 and 22.04.
Looking in the latest publications of Nvidia.
This paper from Dieter Fox uses Transformers, Simulation and Depth-cameras. The paper is accompanied with website and code.
This is an extension of PerAct, which actually has Colab Tutorial
Before I can download a docker image from ncvr.io, I first should login with my NGC API key, as described here.

Activated the Open Campus day script on Pepper. Both laptop and robot are connected to the LAB42 network (146.*).
Started Choregraphe 2.5.10. Switched off Automatic Life and did a wakeup (sun-button).
Connecting with Choregraphe to *.*.*.37 still works.
Made a silent script. Tested if getting the stiffness of option still worked, but unfortunatelly switched off altogether.
After a reboot Pepper had another email address.
Tried IPv4NetworkScanner, which worked quite nice, but still didn't see Pepper.
Made a wired connection. After a while I could see Pepper as pepper.local in Choregraphe, and could also do ssh nao@pepper.local.
There I saw that the Pepper was wirelessly connect to vislab DNT_5G. Logged in to webinterface and switched to LAB42.
The robot is not connected to the same subdomain. Doing Networkscan only showd myself. Doing the scan on the 256 subdomains (for the wired connection) was not a good option. That took too long.
Problem was that the sound was off. Setting it on is not a good option, because it starts complaining on its devices (front camera)