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Button

Mandatory:

Optional:

Audio output (instead of car horn, to play announcement)

Coloring to indicate who touched it:

  • we can use oil painting colors - they take very long to dry (like more than 72h)

Home Automation

None of this is technically mandatory but if someone takes the button to the bathroom and secretly pushes it, we might not notice.

On the plus side, all of this can be left in place for regular home automation (like switching the lights from your phone or having the on a timer)

Mandatory:

Central brain aka a small computer that runs the HomeAssistant software - this allows us to control the lights and receive the button trigger event from the button box. We can also use to control the music.

(Note for flo for later: https://github.com/sle118/squeezelite-esp32)

Optional:

The ceiling spotlights are near impossible to replace (or make smart) directly, so the best thing we can do is change the light switches. Each light switch can be replaced with a smart switch that allows both physical (offline) turning on/off and smart switching (on your phone or on a timer).
I'd recommend at least one of these.
If I counted correctly, there's 5 light switches that we could use for this: Kitchen/living room has 3 switches, TV room has 1 switch, yoga room has 1 switch.

Flo also has spare RGB LED strips (I think I have 1m length LEDs left) that we can set up across the house and integrate with HomeAssistant. I can lend that to you or you can buy a new strip if you like from Adafruit. Each meter is 15 USD and you can cut it into up to 60 segements and put these into different spots connected by wires: https://www.adafruit.com/product/2541

In the living room, there's a lamp with 3 standard E27 light bulbs. We can either

  • turn it on/off with a power plug adapter, keeping the current light bulbs (flo has a spare)

or

So in summary,

  • Minimal setup: Button box without speaker, Flo lends you an old raspberry pi as temporary HomeAssistant controller, and Flo lends you a couple LED strips around the house that turn red or that turn on when someone pushes the button, ~25 USD
  • Medium setup: Button box with speaker, 1-2 light switches are smart, permanent Raspberry Pi 4 that serves as HomeAssistant hub, 34 USD (box) + 55 CAD (RPi) + 23 USD (3-gang smart touch light switch in the kitchen)
  • ULTIMATE setup: Button box with speaker, 5 smart light switches, permanent RPi4 as hub, 3 RGB light bulbs in the living room, 34 USD (box) + 110 CAD (RPi) + 100 USD (5x smart switches) + 45 USD (3x RGB LEDs)
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Go1 Legged Gym Tutorial

0. Abbreviations LL or LLP - Low-level policy, which converts directional commands (linear velocity on the x-y plane and angular velocity around the UP axis) into joint angles 1. Install everything Create a new conda environment and follow the install instructions from the 2 readmes in the subdirectories: https://github.com/simonchamorro/legged-gym-rl You should use Python 3.8. Due to the isaacgym depency, this only works on a machine with a CUDA GPU and at least Nvidia Pascal arch (GTX 1080 or later). You need a specific version of pytorch, as mentioned in the readme.

Jun 13, 2023
2022-05-22 Pupperfetch Progress & Lessons

Base+arm policy We wanted to make a 3-way comparison between different ways of training the base+arm policy: (a) training base and arm separately (b) training base first, then arm (c) training both together <-- This would be the obvious winner For (a, "training base and arm separately"), we want to include the arm when training, but either zero it out or send random actions. Surprisingly, this doesn&apos;t work at all. The policy needs control over the arm, otherwise it doesn&apos;t learn to compensate for it - both when it&apos;s zeroed and when the arm is moving randomly. (There is possibly some bug in here somewhere but the task is very, very similar to the other two and they work fine. Will revisit later.) Training a reaching policy with the arm on its own was easy and leads to better overall grasping range than when the arm is mounted on the pupper but this makes sense because the arm fully stretched out can lead to the Go1 tipping over and terminating the episode (and when training only the arm, the arm is fixed).

May 24, 2022
UR5 @ REAL Montreal

Safety :skull_and_crossbones: Stay out of the safety circle when the robot is powered on and deeeefinitely keep the touchscreen out of the safety circle. The robot is powerful enough to punch you in the face and break some bones. :red_circle: Whatever you do, if you control the robot via the touchscreen or you control it via some remote software, the red emergency button always works. Just smack it and the robot will instantly shut down and stop moving. This does not harm the robot in any way, so feel free to use it whenever. Test the button before starting to program the robot. :fast_forward: The arm has built-in safety features that halt the arm if it&apos;s going too fast or if it&apos;s pushing against something that has too much resistance (like when you set a goal point below the table, it will hit the table but then stop). However, it can still accelerate quickly and it can quickly smash into something before the safety mechanism comes on. So be sure to use it with low max velocity/low acceleration unless you know exactly what you&apos;re doing. :electric_plug: The arm is always "stiff", meaning the breaks in each joint are active by default. Don&apos;t try to move the arm unless you are HOLDING the "freedrive" touchscreen button or the black little nubbin at the back of the touchpad panel (see below). Only then can you move the arm around, otherwise you damage the breaks. :weight_lifter: The max payload of the robot is 5kg, which is on top of its own mass. Meaning you can pick up and effortlessly move around objects of up to (5kg - weight_of_the_gripper). In order to be allowed to use the arm, put your full name below, indicating that you&apos;ve read these points and will respect these. Any injuries/damages will be your own responsibility unless it&apos;s due to a mechanical defect of the robot.

Nov 25, 2021
Perouz' Secret Santa Present Instructions

Belated hohoho! :smiley: Here&apos;s everything you need to know about your secret santa present. It&apos;s a little thingy that checks your Gmail every half hour or so and simply turns on a light if there&apos;s new mails. If you press the big top button (the envelop), the light turns off - basically, you can shush it. I&apos;ve built the whole thing from scratch (code, electronics, box) and everything is open-source. If you have privacy concerns, I&apos;m linking the code and materials at the end. 0 - Preamble

Jan 3, 2021
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