{"action":"closed","issue":{"url":"https://api.github.com/repos/roboticslab-uc3m/asibot-main/issues/21","repository_url":"https://api.github.com/repos/roboticslab-uc3m/asibot-main","labels_url":"https://api.github.com/repos/roboticslab-uc3m/asibot-main/issues/21/labels{/name}","comments_url":"https://api.github.com/repos/roboticslab-uc3m/asibot-main/issues/21/comments","events_url":"https://api.github.com/repos/roboticslab-uc3m/asibot-main/issues/21/events","html_url":"https://github.com/roboticslab-uc3m/asibot-main/issues/21","id":184574650,"number":21,"title":"Clean asibot-main programs/modules","user":{"login":"jgvictores","id":4448588,"avatar_url":"https://avatars1.githubusercontent.com/u/4448588?v=4","gravatar_id":"","url":"https://api.github.com/users/jgvictores","html_url":"https://github.com/jgvictores","followers_url":"https://api.github.com/users/jgvictores/followers","following_url":"https://api.github.com/users/jgvictores/following{/other_user}","gists_url":"https://api.github.com/users/jgvictores/gists{/gist_id}","starred_url":"https://api.github.com/users/jgvictores/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jgvictores/subscriptions","organizations_url":"https://api.github.com/users/jgvictores/orgs","repos_url":"https://api.github.com/users/jgvictores/repos","events_url":"https://api.github.com/users/jgvictores/events{/privacy}","received_events_url":"https://api.github.com/users/jgvictores/received_events","type":"User","site_admin":false},"labels":[{"id":564812340,"url":"https://api.github.com/repos/roboticslab-uc3m/asibot-main/labels/priority:%20high","name":"priority: high","color":"d93f0b","default":false},{"id":564812191,"url":"https://api.github.com/repos/roboticslab-uc3m/asibot-main/labels/status:%20in%20progress","name":"status: in progress","color":"d0d0d0","default":false}],"state":"closed","locked":false,"assignee":{"login":"jgvictores","id":4448588,"avatar_url":"https://avatars1.githubusercontent.com/u/4448588?v=4","gravatar_id":"","url":"https://api.github.com/users/jgvictores","html_url":"https://github.com/jgvictores","followers_url":"https://api.github.com/users/jgvictores/followers","following_url":"https://api.github.com/users/jgvictores/following{/other_user}","gists_url":"https://api.github.com/users/jgvictores/gists{/gist_id}","starred_url":"https://api.github.com/users/jgvictores/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jgvictores/subscriptions","organizations_url":"https://api.github.com/users/jgvictores/orgs","repos_url":"https://api.github.com/users/jgvictores/repos","events_url":"https://api.github.com/users/jgvictores/events{/privacy}","received_events_url":"https://api.github.com/users/jgvictores/received_events","type":"User","site_admin":false},"assignees":[{"login":"jgvictores","id":4448588,"avatar_url":"https://avatars1.githubusercontent.com/u/4448588?v=4","gravatar_id":"","url":"https://api.github.com/users/jgvictores","html_url":"https://github.com/jgvictores","followers_url":"https://api.github.com/users/jgvictores/followers","following_url":"https://api.github.com/users/jgvictores/following{/other_user}","gists_url":"https://api.github.com/users/jgvictores/gists{/gist_id}","starred_url":"https://api.github.com/users/jgvictores/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jgvictores/subscriptions","organizations_url":"https://api.github.com/users/jgvictores/orgs","repos_url":"https://api.github.com/users/jgvictores/repos","events_url":"https://api.github.com/users/jgvictores/events{/privacy}","received_events_url":"https://api.github.com/users/jgvictores/received_events","type":"User","site_admin":false},{"login":"PeterBowman","id":9977198,"avatar_url":"https://avatars1.githubusercontent.com/u/9977198?v=4","gravatar_id":"","url":"https://api.github.com/users/PeterBowman","html_url":"https://github.com/PeterBowman","followers_url":"https://api.github.com/users/PeterBowman/followers","following_url":"https://api.github.com/users/PeterBowman/following{/other_user}","gists_url":"https://api.github.com/users/PeterBowman/gists{/gist_id}","starred_url":"https://api.github.com/users/PeterBowman/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/PeterBowman/subscriptions","organizations_url":"https://api.github.com/users/PeterBowman/orgs","repos_url":"https://api.github.com/users/PeterBowman/repos","events_url":"https://api.github.com/users/PeterBowman/events{/privacy}","received_events_url":"https://api.github.com/users/PeterBowman/received_events","type":"User","site_admin":false}],"milestone":null,"comments":17,"created_at":"2016-10-21T21:34:14Z","updated_at":"2018-02-05T11:22:20Z","closed_at":"2018-02-05T11:22:20Z","author_association":"OWNER","body":"There are a number of modules that should go elsewhere or become deprecated in favor of advances. This is not mandatory, but we have been working a lot elsewhere! I'm going to try to describe as honestly as possible the situation/past/present of each module.\r\n- [x] testRaveBot -> Work in progress is to use [openrave-yarp-plugins](https://github.com/roboticslab-uc3m/openrave-yarp-plugins)  with separate model repos similar to [teo-openrave-models](https://github.com/roboticslab-uc3m/teo-openrave-models) to substitute testRaveBot and also teoSim of teo-main. For now only joint movements are implemented, but plugins for creating objects, publishing sensor data etc are on the way. GOOD TO KEEP :smile::minibus: (roboticslab-uc3m/openrave-yarp-plugins#26)\r\n- [x] webInterface -> It's relatively pretty... GUIs are always nice... let's speak about this in person! (btw, in teo we're simply using the yarpmotorgui). GOOD TO KEEP :smile::minibus: hmi (roboticslab-uc3m/asibot-hmi#1)\r\n- [x] pointAtObjectServer -> This was a PCL-based project, you sent a vector to it describing where you were pointing at (from some Windows Kinect software), and it did the classic RANSAC background extraction, Eucledean clustering to get objects, create meshes through Possion, and finally use VTK to get the intersection of the vector with one of the object meshes. GOOD TO KEEP :smile::truck: vision\r\n- [x] robotDraw -> Was used for [the first xgnitive RIS paper](http://ieeexplore.ieee.org/document/6697181/?tp=&arnumber=6697181), should be moved to [xgnitive](https://github.com/roboticslab-uc3m/xgnitive) Don't remember actual implementation, and can only think of keeping it for historical reasons. MOVE. :truck: xgnitive\r\n- [x] cartesianServer -> [teo-main BasicCartesianControl](https://github.com/roboticslab-uc3m/teo-main/tree/develop/libraries/TeoYarp/BasicCartesianControl) which also has a nice server wrapper + client pair in the same tree. My suggestion: ELIMINATE :skull_and_crossbones: (and move on to BasicCartesianControl, which is already a plugin).\r\n- [x] colorSegmentor -> First one of the saga. 2D, had issues with blobs in OpenCV and ended up using a third-party library that's bulk imported. My suggestion: ELIMINATE. :skull_and_crossbones: \r\n- [x] kinectPxToReal ->Takes kinect X [px] and Y [px], joins with Z [m] to output X [m] Y [m] Z [m]. This is, it was a transition from 2D to 3D in a separate program. MOVE. :truck: vision\r\n- [x] colorDepth -> Passes colorSegmentor to 3D. In fact, all colorDepth does is extract the depth of the corresponding pixel. Preserves issues with blobs in OpenCV and ended up using a third-party library that's bulk imported. My suggestion: ELIMINATE. :skull_and_crossbones: vision\r\n- [x] visionSegmentor -> Improvement on colorDepth using travislib. Is 2D. Depends on [travislib](https://sourceforge.net/projects/travislibrary) (our wrapper of opencv). It feels like it could be a part of of somehow integrated within colorRegionDetection, but I really don't know how. GOOD TO KEEP :smile::truck: because it's 2D. vision\r\n- [x] visionDepth ->Improvement on colorDepth using travislib. Is 3D.  Depends on [travislib](https://sourceforge.net/projects/travislibrary). In [colorRegionDetection](https://github.com/roboticslab-uc3m/teo-head/tree/develop/programs/colorRegionDetection) is an exact copy, just actually made a bulk copy of [travislib](https://sourceforge.net/projects/travislibrary) so you do not have to install it. However, we did do some improvements in documentation. My suggestion: ELIMINATE  :skull_and_crossbones: (and move on to colorRegionDetection which is more documented).\r\n- [x] premultH -> Pre-multiplies an H, for an application such as premultiplying H_root_kinect to an incoming H_kinect_object to get H_root_object. Seems like overkill, but ROS's tf approach also feels like overkill. Another option is hard-coding an H0 into colorRegionDetection and similar. GOOD TO KEEP :smile::truck: kinematics\r\n  - Alternatives include small library part of programs, or yarp port arbitration.\r\n- [x] wiimoteServer -> Was nice, but could be better. For instance, I recall there was a hard-coded gui. A different solution with no dependencies on graphical environments, and better as a plugin, would be preferable. GOOD TO KEEP :smile::truck: yarp-devices\r\n- [x] asibotTasks -> Sounded like a great idea, think I actually did some full trajectories like a man moving around a simulated environment and putting on some make-up, but can't think of a practical use for this. I actually recall this was when I was motivated with automated planning such as PDDL and wanted these to be atomic tasks. An idea is to migrate these demo-like behaviours to an interpreted language. GOOD TO KEEP :smile:\r\n- [x] taskServer -> Most probably related to asibotTasks. I'd probably IMPROVE it, since it certainly isn't even a nice wrapper as in YARP devices. GOOD TO KEEP :smile::truck: demoServer\r\n"}}
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