Current Works• Created WIKI for Object tracking system• Installed truss• Created camera mounts and attached to truss• Setup server for mysql database to store

experiment data– Requested static IP address from LabStaff

Truss with Cameras Mounted

Data Accessible through tracking tools

• Trackable– ID– Timestamp– Frames since last tracked– Position (of center of geometry?)– Quaternion Orientation– Euler orientation– Tracked marker locations– Point cloud marker locations– Accuracy of marker locations, error and quality

SQL databaseexperimentsid key - iterative experiment numberdescriptiontimestamptype one word description of experimentposition location of object being graspedmoviefile?

trackables key-iterative trackable numbertrackable idexperiment id id number for particular expeirmentexp. track idname

framesexperiment IDtrackable Id keyframe Id frames since last trackedlast Tracktposxtposytposz yawty pitchtp rolltrframe time number for patricular experimentframe number

pointspoint ID key-iterative for each pointexp point id Point id for particular experimentexperiment idxyztrackable trackable object associated to

Whats next?

• Continue assisting John as needed– Performing grasping experiments

• Continue Implementation of real time collection of data in MATLAB

• Build a database containing all experiment data

• Interface MATLAB with database• Review grasping notes/complete assignments