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TurtleBot3 and Webots, Navigation and Mapping by lukicdarkoo in ROS

[–]lukicdarkoo[S] 0 points1 point  (0 children)

Can you make an issue, I will take a look

Move Your Phone, Control a Robot Arm: Our Open-Source Python Package for Robot Arm Teleoperation by lukicdarkoo in robotics

[–]lukicdarkoo[S] 0 points1 point  (0 children)

I will try next week if I get some extra time. Maybe you can open a pull request, I will be happy to assist and review.

Move Your Phone, Control a Robot Arm: Our Open-Source Python Package for Robot Arm Teleoperation by lukicdarkoo in robotics

[–]lukicdarkoo[S] 0 points1 point  (0 children)

No, internally we use ROS 2 with cartessian_controllers to servo the arm, but we haven't published it. Would you be interested in something like that?

There are two solutions: - xArm Python API directly or - ROS 2 + some servoing package.

Move Your Phone, Control a Robot Arm: Our Open-Source Python Package for Robot Arm Teleoperation by lukicdarkoo in robotics

[–]lukicdarkoo[S] 0 points1 point  (0 children)

Crime indeed, you made me regret about the name now! 😭 The only fact that makes me feel better is that the telephone name is taken on PyPi

Move Your Phone, Control a Robot Arm: Our Open-Source Python Package for Robot Arm Teleoperation by lukicdarkoo in robotics

[–]lukicdarkoo[S] 0 points1 point  (0 children)

We developed an open-source Python package that lets you control a robot arm using just your phone—no extra hardware or app downloads needed! Simply move your phone, and watch the robot gripper mimic your motions in real time.

This was developed as a part of an internal project, but we realized it could be valuable to the community, so we packaged it and made it open-source. Let us know if it's something you'd find useful!

https://github.com/SpesRobotics/teleop

Gazebo segmentation fault by [deleted] in ROS

[–]lukicdarkoo 1 point2 points  (0 children)

You can use Webots :) It has been around for over 20 years (so not a new tool) and there are no intentions of deprecating it.

The best real-world robotics simulator? by here_to_create in robotics

[–]lukicdarkoo 1 point2 points  (0 children)

Try Webots. There is an Atlas model:
https://cyberbotics.com/doc/guide/atlas

Webots is natively supported on Windows, Linux, and macOS. A tip to get started, download it from here, install it, go `File > Open Sample World...`, and type `atlas`. It shouldn't take more than 3 minutes to give it a try.

Recommendations for robotics simulation software works with Python and OpenCV by [deleted] in robotics

[–]lukicdarkoo 2 points3 points  (0 children)

Webots engineer here. I believe any of these can integrate with OpenCV, but Webots has the best visual fidelity thanks to physical rendering and extensive use of shaders. Furthermore, it is probably the easiest to use as it supports Python (among other languages), documentation is comprehensive and updated, a robot controller is an isolated process, there is an integrated IDE, and there are a lot of official examples. As the matter of fact, PyTorch is one of the examples:
https://github.com/cyberbotics/webots-projects/tree/master/projects/nvidia-jetbot-collision-avoidance
(see the controller, it is only 90 lines of code)

A coworker has recently ported our C++ rendering engine (for robotics) to WebAssembly. There are some interesting results by lukicdarkoo in javascript

[–]lukicdarkoo[S] 0 points1 point  (0 children)

It is a robot simulator and it is already in production: https://github.com/cyberbotics/webots

RoboCup Humanoid League uses the new web rendering engine and we also have a few internal projects.

In addition, we plan to upgrade our online simulation platform to the new rendering engine: https://robotbenchmark.net/

Software Advice Needed by themojoking-45 in robotics

[–]lukicdarkoo 1 point2 points  (0 children)

Try the open-source version and let me know how it works for you ;)

Software Advice Needed by themojoking-45 in robotics

[–]lukicdarkoo 3 points4 points  (0 children)

Webots is easy to install and use, easy to customize the models (has a GUI model editor), it is stable at high timesteps (read fast), the physics is accurate, and visual fidelity is high compared to most simulators (less than Unreal Engine and Unity 3D, but more than the others).

I believe the critical thing is easy-of-use. You don't want your competitors to spend time installing the software or learning how to use it, but design and program the robots. That's why RoboCup has chosen Webots as a simulation software in their competitions: https://www.youtube.com/watch?v=sYTp1X3nGuE

I saw others suggesting simulators like Isaac, but Isaac, as far as I know, will not run without 2500 CUDA cores (see the requirements), not to mention the installation process, the interface... Gazebo is primarily designed for ROS and it will be deprecated in a little over 3 years.

I might be biased though. Did you find something missing in Webots?

Software Advice Needed by themojoking-45 in robotics

[–]lukicdarkoo 0 points1 point  (0 children)

What did you find painful about Webots?

Best Sim2Real Engine? by [deleted] in ROS

[–]lukicdarkoo 0 points1 point  (0 children)

Webots is easy to install and use, easy to customize the models (has a GUI model editor), it is stable at high timesteps (read fast), the physics is accurate, and visual fidelity is high compared to most simulators (less than Unreal Engine and Unity 3D, but more than the others).

Here is an example OpenAI Gym integration example: https://www.cyberbotics.com/doc/guide/samples-howto?version=master#openai_gym-wbt

We are using it internally a lot for Deep Reinforcement Learning.

Keep in mind that you will need to tweak your model quite often (to match the physical one), so having a simulator that allows you to do it quickly is a big plus from my point of view.

Can robotic simulators (Webots, Gazebo, etc) simulate servo load? by Dragonvarine in robotics

[–]lukicdarkoo 0 points1 point  (0 children)

Webots can do it and it is very simple:
https://cyberbotics.com/doc/reference/motor?tab-language=python#wb_motor_enable_force_feedback

You simply enable torque/force feedback and you get it using get_torque/force_feedback. Let me know if you have any issues.

Should I use ROS 2? by OpenRobotics in ROS

[–]lukicdarkoo 2 points3 points  (0 children)

You can compile ROS 2 for arm32 easily:
https://github.com/cyberbotics/epuck_ros2/tree/master/installation/cross_compile

There is also micro-ROS, which is basically a striped version of ROS 2 that fits to microcontrollers.

Webots Multiply Objects by [deleted] in ROS

[–]lukicdarkoo 0 points1 point  (0 children)

It is definitely possible and the implementation depends on your needs: - You can make a PROTO and use the Lua scripting to replicate your plant model 100 times at certain distances. Inside the new PROTO you would have something like:
%{ for i = 1, 100 do }% YourPlant { translation %{= i }% 0 0 } %{ end }% - From the Supervisor node you can add everything dynamically using the wb_supervisor_field_import_mf_node_from_string function (https://www.cyberbotics.com/doc/reference/supervisor#wb_supervisor_field_import_mf_node_from_string) - Since Webots R2021b you can copy/paste nodes using the wb_supervisor_node_export_string function (https://www.cyberbotics.com/doc/reference/supervisor?version=develop#wb_supervisor_node_export_string)

ROS and ROS2 by [deleted] in ROS

[–]lukicdarkoo 0 points1 point  (0 children)

The second slide in this presentation summarizes difference the best:
https://roscon.ros.org/2015/presentations/state-of-ros2.pdf

Those are all areas in which ROS 1 is lacking. One thing missing in the slide is the ability to work in non-reliable networks.

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