This week at Virtana has been spent attempting to build upon my work from last week. My week was spent finishing the WebRTC additions that I had started last week, working on simplifying the communication process to update robot joints and attempting to fix a bug in the simulation output for WebRTC.

I finished the WebRTC stuff that I had started last week. Now all the cameras in the simulation should be able to send data to a remote viewer using WebRTC.

For most of this week I have been trying to simplify communication between a user and the simulation robot. This is has not gone the best as I am not understanding the data flow for the system and I have temporarily moved onto fixing a bug.

I have moved to fixing a bug in the simulation output that is being used by WebRTC. It involved adding a lock to the the output statement so that multiple camera don’t output data at the same time thus causing malformed data to be output.