From kim.wheeler at roadnarrows.com Tue Jan 3 21:15:42 2006 From: kim.wheeler at roadnarrows.com (Kim Wheeler) Date: Tue Jan 3 22:09:05 2006 Subject: [Pyro-users] Robot Educator contacts wanted for Robot Magazine Message-ID: <43BB2FCE.9010004@roadnarrows.com> An HTML attachment was scrubbed... URL: http://emergent.brynmawr.edu/pipermail/pyro-users/attachments/20060103/4d3a1b85/attachment.htm From mengel at allegheny.edu Tue Jan 10 11:26:21 2006 From: mengel at allegheny.edu (Matthew T. Engel) Date: Tue Jan 10 11:31:10 2006 Subject: [Pyro-users] FC3 & Pyro Message-ID: <1136910381.6695.7.camel@aldenv122.allegheny.edu> I installed Pyro on FC3 and can only use the GUI with the root acount. If I run pyrobot as a normal user I can only use the GUI. When I run as root user only the gazebo servers are available. I also installed on FC4 (everything that I can tell works for all users). Problem is that all our labs are FC3. Any help or suggestions greatly appreciated. Matt From dblank at brynmawr.edu Tue Jan 10 11:47:41 2006 From: dblank at brynmawr.edu (Douglas S. Blank) Date: Tue Jan 10 11:47:59 2006 Subject: [Pyro-users] FC3 & Pyro In-Reply-To: <1136910381.6695.7.camel@aldenv122.allegheny.edu> References: <1136910381.6695.7.camel@aldenv122.allegheny.edu> Message-ID: <1136911661.14773.297.camel@mightymouse.brynmawr.edu> Matt, I'm not sure what you are saying isn't working. It sounds like it might be a permission issue. Can you track down what is incorrect? What exactly is the error message? I suspect that our FC3 machine is no longer available, so we'll have to figure out what is wrong on your end, and come up with a fix. It probably is something easy---maybe something in the wrong place or wrong permissions. -Doug On Tue, 2006-01-10 at 11:26 -0500, Matthew T. Engel wrote: > I installed Pyro on FC3 and can only use the GUI with the root acount. > If I run pyrobot as a normal user I can only use the GUI. > > When I run as root user only the gazebo servers are available. > > I also installed on FC4 (everything that I can tell works for all > users). Problem is that all our labs are FC3. > > Any help or suggestions greatly appreciated. > > Matt > > > _______________________________________________ > Pyro-users mailing list > Pyro-users@emergent.brynmawr.edu > http://emergent.brynmawr.edu/mailman/listinfo/pyro-users > -- Douglas S. Blank Computer Science Assistant Professor Bryn Mawr College (610)526-6501 http://cs.brynmawr.edu/~dblank From rscherl at monmouth.edu Tue Jan 10 17:31:31 2006 From: rscherl at monmouth.edu (Richard Scherl) Date: Tue Jan 10 17:31:35 2006 Subject: [Pyro-users] Old Pioneer II Message-ID: <2580.10.1.12.105.1136932291.squirrel@wlb-wm-01.monmouth.edu> I have access to a rather old Pioneer II robot - without the onboard computer, but with a tether and a radio controller. I'm wondering if I will be able to use or adapt the instructions for the Pioneer robot or if I will have to follow the approach for interfacing the pyro code to some other (not mentioned on the webpage) robot. Rich From dblank at brynmawr.edu Tue Jan 10 18:39:21 2006 From: dblank at brynmawr.edu (dblank@brynmawr.edu) Date: Tue Jan 10 18:39:26 2006 Subject: [Pyro-users] Old Pioneer II In-Reply-To: <2580.10.1.12.105.1136932291.squirrel@wlb-wm-01.monmouth.edu> References: <2580.10.1.12.105.1136932291.squirrel@wlb-wm-01.monmouth.edu> Message-ID: <55577.68.34.179.225.1136936361.squirrel@webmail.brynmawr.edu> Rich, Interesting question. If there is a Player driver, then it will work immediately---nothing else needs to be done. However, I doubt that there is a Player interface for those old Pioneers (you might ask on the player-users or aria-users mailing lists). You will probably have to write your own interface, which isn't too bad these days. There are some docs here: http://pyrorobotics.org/?page=Interfacing_20Your_20Own_20Robot which are fairly up-to-date. Whatever you find, let us know if you have any questions. We'd be glad to help you with the code. -Doug > I have access to a rather old Pioneer II robot - without > the onboard computer, but with a tether and a radio controller. > I'm wondering if I will be able to use or adapt the instructions > for the Pioneer robot or if I will have to follow the approach for > interfacing the pyro code to some other (not mentioned on the webpage) > robot. > > Rich From pdrewes at mindspring.com Wed Jan 11 13:28:42 2006 From: pdrewes at mindspring.com (pdrewes@mindspring.com) Date: Wed Jan 11 13:28:47 2006 Subject: [Pyro-users] Re: Old Pioneer II Message-ID: <29391489.1137004122839.JavaMail.root@mswamui-bichon.atl.sa.earthlink.net> Hello, If it is a pioneer II of any vintage, the standard player libraries work just fine. You can use the serial connection on top of the robot (near the LCD) to connect to any PC, or use the wireless link if desired. The Pioneer II (both AT/DX), the amigobot and Pioneer III series use pretty much all of the same player configurations. There are many differences under the hood. Peter From jmugan at cs.utexas.edu Wed Jan 11 17:47:53 2006 From: jmugan at cs.utexas.edu (Jonathan W Mugan) Date: Wed Jan 11 17:47:58 2006 Subject: [Pyro-users] Trouble with aibo vision Message-ID: <43C58B19.6050608@cs.utexas.edu> Hello, Using file tekkotsu-memstick2.4.tgz I was able to connect to my Aibo (using: load->robot->aibo.py) and use the Pyro joystick to control it. But when I try Load->Devices->AiboCamera.py I get "Error: socket could not connect." I saw the posting about changing udp to tcp in tekkotsu.cfg but tekkotsu-memstick2.4.tgz already has tekkotsu.cfg with tcp. And when I got the newest tekkotsu.cfg (2.4.1) from the Tekkotsu website and changed udp to tcp in tekkotsu.cfg, I still had the same problem. Any ideas? Thanks, Jonathan Mugan From dblank at brynmawr.edu Wed Jan 11 19:06:08 2006 From: dblank at brynmawr.edu (dblank@brynmawr.edu) Date: Wed Jan 11 19:06:14 2006 Subject: [Pyro-users] Trouble with aibo vision In-Reply-To: <43C58B19.6050608@cs.utexas.edu> References: <43C58B19.6050608@cs.utexas.edu> Message-ID: <56709.68.34.179.225.1137024368.squirrel@webmail.brynmawr.edu> Jonathan, What type of AIBO do you have? Did it come with AIBO Mind, version 3? I'm wondering, because I haven't tried Pyro with the latest versions of the newest hardware. Also, if you use the package from CMU, there might be some changes in the menus that we use to turn items on and off. To narrow down the possible problems, try connecting with Tekkotsu's Java program, Monitor, and see if you can get vision from robot that way. If so, then all of the hardware is working and configured correctly. If that fails, it could be also a network issue, but that sounds unlikely given that you have the movement commands working. Once the hardware is known to be working, then we can make sure the Pyro-layer is working. Try again after a few minutes; I know that Linux will lock up the socket for two minutes, I think, if it fails because we have some LINGER value set too high (I'd fix that if I knew how...) It sounds like the vision server isn't starting on the robot. You could turn that on manually through Tekkotsu's Monitor, and then try to connect onto it with Python. Let us know if these hints help, or if you have any more information so we can help track down the problem. -Doug > Hello, > > Using file tekkotsu-memstick2.4.tgz I was able to connect to my Aibo > (using: load->robot->aibo.py) and use the Pyro joystick to control it. > > But when I try Load->Devices->AiboCamera.py I get > "Error: socket could not connect." > > I saw the posting about changing udp to tcp in tekkotsu.cfg but > tekkotsu-memstick2.4.tgz already has tekkotsu.cfg with tcp. And when I > got the newest tekkotsu.cfg (2.4.1) from the Tekkotsu website and > changed udp to tcp in tekkotsu.cfg, I still had the same problem. > > Any ideas? > > Thanks, > Jonathan Mugan > > _______________________________________________ > Pyro-users mailing list > Pyro-users@emergent.brynmawr.edu > http://emergent.brynmawr.edu/mailman/listinfo/pyro-users > From jmugan at cs.utexas.edu Wed Jan 11 20:12:58 2006 From: jmugan at cs.utexas.edu (Jonathan W Mugan) Date: Wed Jan 11 20:13:09 2006 Subject: [Pyro-users] Trouble with aibo vision In-Reply-To: <56709.68.34.179.225.1137024368.squirrel@webmail.brynmawr.edu> References: <43C58B19.6050608@cs.utexas.edu> <56709.68.34.179.225.1137024368.squirrel@webmail.brynmawr.edu> Message-ID: <43C5AD1A.2020304@cs.utexas.edu> dblank@brynmawr.edu wrote: >Jonathan, > >What type of AIBO do you have? Did it come with AIBO Mind, version 3? I'm >wondering, because I haven't tried Pyro with the latest versions of the >newest hardware. > >Also, if you use the package from CMU, there might be some changes in the >menus that we use to turn items on and off. > >To narrow down the possible problems, try connecting with Tekkotsu's Java >program, Monitor, and see if you can get vision from robot that way. If >so, then all of the hardware is working and configured correctly. If that >fails, it could be also a network issue, but that sounds unlikely given >that you have the movement commands working. > >Once the hardware is known to be working, then we can make sure the >Pyro-layer is working. Try again after a few minutes; I know that Linux >will lock up the socket for two minutes, I think, if it fails because we >have some LINGER value set too high (I'd fix that if I knew how...) > >It sounds like the vision server isn't starting on the robot. You could >turn that on manually through Tekkotsu's Monitor, and then try to connect >onto it with Python. > >Let us know if these hints help, or if you have any more information so we >can help track down the problem. > >-Doug > > > >>Hello, >> >>Using file tekkotsu-memstick2.4.tgz I was able to connect to my Aibo >>(using: load->robot->aibo.py) and use the Pyro joystick to control it. >> >>But when I try Load->Devices->AiboCamera.py I get >>"Error: socket could not connect." >> >>I saw the posting about changing udp to tcp in tekkotsu.cfg but >>tekkotsu-memstick2.4.tgz already has tekkotsu.cfg with tcp. And when I >>got the newest tekkotsu.cfg (2.4.1) from the Tekkotsu website and >>changed udp to tcp in tekkotsu.cfg, I still had the same problem. >> >>Any ideas? >> >>Thanks, >>Jonathan Mugan >> >>_______________________________________________ >>Pyro-users mailing list >>Pyro-users@emergent.brynmawr.edu >>http://emergent.brynmawr.edu/mailman/listinfo/pyro-users >> >> >> > > > > > Doug, I was able to see the output from the camera by running the Tekkotsu ControllerGUI java program. The Aibo is an ERS7 and the people who gave it do me don't know if it has AIBO Mind, version 3 (but they said it was possible since they bought some with more expensive software). When I connect to the robot using the ControllerGUI I am unable to also connect using Pyro (it just hangs). Please let me know if I didn't follow your hints correctly or if you have any other ideas. Thanks, Jonathan From dblank at brynmawr.edu Wed Jan 11 20:53:24 2006 From: dblank at brynmawr.edu (dblank@brynmawr.edu) Date: Wed Jan 11 20:53:29 2006 Subject: [Pyro-users] Trouble with aibo vision In-Reply-To: <43C5AD1A.2020304@cs.utexas.edu> References: <43C58B19.6050608@cs.utexas.edu> <56709.68.34.179.225.1137024368.squirrel@webmail.brynmawr.edu> <43C5AD1A.2020304@cs.utexas.edu> Message-ID: <56347.68.34.179.225.1137030804.squirrel@webmail.brynmawr.edu> > Doug, > > I was able to see the output from the camera by running the Tekkotsu > ControllerGUI java program. Jonathan, Well that's a good sign. > The Aibo is an ERS7 and the people who gave it do me don't know if it > has AIBO Mind, version 3 (but they said it was possible since they > bought some with more expensive software). Ok, I don't think that will matter one way or the other. > When I connect to the robot using the ControllerGUI I am unable to also > connect using Pyro (it just hangs). I was afraid of that. I don't have much time right now, but here are some ideas: 1) It may be that Pyro isn't starting the camera server. Run Pyro, connect to AIBO, then exit. Start ControllerGUI and see if the camera server is on. If it isn't, start it, exit, then run and connect with Pyro again. Does that work? 1) look at pyrobot/robot/aibo.py and try put some print statements in to see if you can tell if the start vision server code is failing. 2) You might try interactively typing commands in python to see if you can see anything else, like: >>> from pyrobot.robot.aibo import * >>> aibo = AiboRobot("machine-name-or-ip") >>> aibo.startDevice("camera") ... etc. -Doug > Please let me know if I didn't follow your hints correctly or if you > have any other ideas. > > Thanks, > Jonathan > From dblank at brynmawr.edu Mon Jan 16 11:58:36 2006 From: dblank at brynmawr.edu (Douglas S. Blank) Date: Mon Jan 16 11:58:55 2006 Subject: [Pyro-users] Pyrobot 4.6 released Message-ID: <1137430716.14773.620.camel@mightymouse.brynmawr.edu> Pyro users, Back to school special: a new version of Pyro, version 4.6, is now available. In fact, if you have your yum repository setup on your Fedora Core 4 computers and you update automatically, then you already have it! You can see the yum (and other) instructions at: http://pyrorobotics.org/?page=PyroInstallation What's new in Pyro 4.6? - new gripper, 2D camera, and moving pucks/cans in the Pyrobot Simulator - fixes and new networks in Conx, the neural network Python package - enhanced Pyro interface for seeing and using devices - enhanced bulb interface for Artificial Life experiments in Pyrobot Simulator - miscellaneous fixes and updates The complete list of changes can be found at: http://pyrorobotics.org/?page=PyroWhatsNew Pyro 4.6 should be completely backwards-compatible with Pyro 4.3. Let us know if you have any problems or questions. -Doug -- Douglas S. Blank Computer Science Assistant Professor Bryn Mawr College (610)526-6501 http://cs.brynmawr.edu/~dblank From dblank at brynmawr.edu Wed Jan 18 17:03:00 2006 From: dblank at brynmawr.edu (Douglas S. Blank) Date: Wed Jan 18 17:03:19 2006 Subject: [Pyro-users] Pyrobot 4.6 released In-Reply-To: <1137430716.14773.620.camel@mightymouse.brynmawr.edu> References: <1137430716.14773.620.camel@mightymouse.brynmawr.edu> Message-ID: <1137621780.14773.809.camel@mightymouse.brynmawr.edu> In addition to updating the Fedora Core 4 repository, the Fedora Core 3 repository has also been updated. Next, the Windows zip file... If you use yum, you can install/upgrade easily with: yum install pyrobot -or- yum upgrade pyrobot See instructions below for more information. -Doug On Mon, 2006-01-16 at 11:58 -0500, Douglas S. Blank wrote: > Pyro users, > > Back to school special: a new version of Pyro, version 4.6, is now > available. In fact, if you have your yum repository setup on your Fedora > Core 4 computers and you update automatically, then you already have it! > You can see the yum (and other) instructions at: > > http://pyrorobotics.org/?page=PyroInstallation > > What's new in Pyro 4.6? > > - new gripper, 2D camera, and moving pucks/cans in the Pyrobot Simulator > - fixes and new networks in Conx, the neural network Python package > - enhanced Pyro interface for seeing and using devices > - enhanced bulb interface for Artificial Life experiments in Pyrobot > Simulator > - miscellaneous fixes and updates > > The complete list of changes can be found at: > > http://pyrorobotics.org/?page=PyroWhatsNew > > Pyro 4.6 should be completely backwards-compatible with Pyro 4.3. Let us > know if you have any problems or questions. > > -Doug > -- Douglas S. Blank Computer Science Assistant Professor Bryn Mawr College (610)526-6501 http://cs.brynmawr.edu/~dblank From dblank at brynmawr.edu Thu Jan 19 16:19:41 2006 From: dblank at brynmawr.edu (Douglas S. Blank) Date: Thu Jan 19 16:19:58 2006 Subject: [Pyro-users] Pyrobot 4.6 released In-Reply-To: <1137621780.14773.809.camel@mightymouse.brynmawr.edu> References: <1137430716.14773.620.camel@mightymouse.brynmawr.edu> <1137621780.14773.809.camel@mightymouse.brynmawr.edu> Message-ID: <1137705581.3368.9.camel@mightymouse.brynmawr.edu> The Windows version of Pyro 4.6 is now available at: http://pyrorobotics.org/download/ Note that although the new pure-Python Pyrobot Simulator runs on Windows and Linux (and presumedly on Mac) the C++ vision code hasn't been compiled on Windows yet. If someone has a C++ compiler under Windows and would like to compile pyrobot\camera and pyrobot\vision and make those available, that would be great. It will take a little bit of work, I suspect, to swig-ify and compile into a dynamic loading library (.dll?). -Doug On Wed, 2006-01-18 at 17:03 -0500, Douglas S. Blank wrote: > In addition to updating the Fedora Core 4 repository, the Fedora Core 3 > repository has also been updated. Next, the Windows zip file... > > If you use yum, you can install/upgrade easily with: > > yum install pyrobot > -or- > yum upgrade pyrobot > > See instructions below for more information. > > -Doug > > On Mon, 2006-01-16 at 11:58 -0500, Douglas S. Blank wrote: > > Pyro users, > > > > Back to school special: a new version of Pyro, version 4.6, is now > > available. In fact, if you have your yum repository setup on your Fedora > > Core 4 computers and you update automatically, then you already have it! > > You can see the yum (and other) instructions at: > > > > http://pyrorobotics.org/?page=PyroInstallation > > > > What's new in Pyro 4.6? > > > > - new gripper, 2D camera, and moving pucks/cans in the Pyrobot Simulator > > - fixes and new networks in Conx, the neural network Python package > > - enhanced Pyro interface for seeing and using devices > > - enhanced bulb interface for Artificial Life experiments in Pyrobot > > Simulator > > - miscellaneous fixes and updates > > > > The complete list of changes can be found at: > > > > http://pyrorobotics.org/?page=PyroWhatsNew > > > > Pyro 4.6 should be completely backwards-compatible with Pyro 4.3. Let us > > know if you have any problems or questions. > > > > -Doug > > -- Douglas S. Blank Computer Science Assistant Professor Bryn Mawr College (610)526-6501 http://cs.brynmawr.edu/~dblank From shannon at centre.edu Wed Jan 25 15:57:10 2006 From: shannon at centre.edu (Christine A. Shannon) Date: Wed Jan 25 15:57:17 2006 Subject: [Pyro-users] pyro vision Message-ID: <0D6F3677FF3C0045BBEE54DB65C4EE4D01570B1E@exchange.centre.edu> I am trying to locate more detailed information about the format of the lists returned by some of the vision functions. In particular, while I know that the various filters return information in self.robot.camera[0].filterResults, I can't find the specifics of exactly what is returned in those lists. For example if interactively I do something like the following self.robot.camera[0].addFilter("match", 165, 119,49) print.self.robot.camera[0].filterResults // I get [102,((0,0,0,0,0),)] then from the camera|filter menu I select blobify | red print.self.robot.camera[0].filterResults // I get [102,((0,0,0,0,0),), ((75,66,84,79,42),)] I know the format of the 5 tuples, but I couldn't find a reference to 'filterResults' in the User's Reference Manual. I'm sure the information is somewhere on the website. Thanks From dblank at brynmawr.edu Wed Jan 25 16:32:20 2006 From: dblank at brynmawr.edu (Douglas S. Blank) Date: Wed Jan 25 16:32:39 2006 Subject: [Pyro-users] pyro vision In-Reply-To: <0D6F3677FF3C0045BBEE54DB65C4EE4D01570B1E@exchange.centre.edu> References: <0D6F3677FF3C0045BBEE54DB65C4EE4D01570B1E@exchange.centre.edu> Message-ID: <1138224740.3368.189.camel@mightymouse.brynmawr.edu> Hi, Christine. There isn't a lot written about that particular field currently. Most of the filter (and their results) are at least mentioned on: http://pyrorobotics.org/?page=PyroVisionSystemFunctions but not very much detail about filterResults in general. Every filter applied to the image has a return value that is stored in the list camera[0].filterResults, in order of application. The first filter's result is in location 0, second in location 1, etc. Some filters return a number. "match" returns the number of pixels that matched. Others return a list. "blobify" returns a list of 5-element tuples. The 5-element tuple has these meanings: position 1: x1 position 2: y1 position 3: x2 position 4: y2 position 5: matching_pixels where (x1, y1) is the upper left-hand corner and (x2, y2) is the bottom right-hand corner of a bounding box around the blob. matching_pixels is the actual number of pixels that compose the blob. matching_pixels is not the size of the bounding box (which you could compute) but the actual number of pixels in the blob. If you get ((0,0,0,0,0),) then there was no blobs matched. If you wanted to dive deeper into the meaning of this, or other, filters, you could look at: pyrobot/vision/cvision/Vision.cpp which is also on the web at: http://compscitest.brynmawr.edu/cgi-bin/viewcvs.cgi/pyrobot/vision/cvision/Vision.cpp?rev=HEAD&content-type=text/vnd.viewcvs-markup Hope that helps, -Doug On Wed, 2006-01-25 at 15:57 -0500, Christine A. Shannon wrote: > I am trying to locate more detailed information about the format of the lists returned by some of the vision functions. In particular, while I know that the various filters return information in self.robot.camera[0].filterResults, I can't find the specifics of exactly what is returned in those lists. > > For example if interactively I do something like the following > > self.robot.camera[0].addFilter("match", 165, 119,49) > print.self.robot.camera[0].filterResults // I get [102,((0,0,0,0,0),)] > > then from the camera|filter menu I select blobify | red > print.self.robot.camera[0].filterResults // I get [102,((0,0,0,0,0),), ((75,66,84,79,42),)] > > I know the format of the 5 tuples, but I couldn't find a reference to 'filterResults' in the User's Reference Manual. I'm sure the information is somewhere on the website. > > Thanks > > _______________________________________________ > Pyro-users mailing list > Pyro-users@emergent.brynmawr.edu > http://emergent.brynmawr.edu/mailman/listinfo/pyro-users > -- Douglas S. Blank Computer Science Assistant Professor Bryn Mawr College (610)526-6501 http://cs.brynmawr.edu/~dblank From dblank at brynmawr.edu Thu Jan 26 22:16:28 2006 From: dblank at brynmawr.edu (dblank@brynmawr.edu) Date: Thu Jan 26 22:16:34 2006 Subject: [Pyro-users] AIBO, RIP? Message-ID: <37726.68.34.179.225.1138331788.squirrel@webmail.brynmawr.edu> It looks like Sony has decided to cancel the AIBO and the QRIO. If anyone has any additional information from reliable sources, please pass it on. This will no doubt effect many of us... -Doug http://news.google.com/news?hl=en&ned=us&q=AIBO&btnG=Search+News