How to control the robot to grasp the specific object?

[Nash-dc]

Hello Mr.Hoang, It's me again. I have used this plugins for a month,and everything goes well,thanks you again for this wondeful project! I have a question about your demo video.In the video you make the DualPanda to grasp objects.I am curious about how you implement it? Could you please give me some example code? Thank you in advance!!!!

[HoangGiang93]

Thank you for your interest. The demo is actually a combination of different parts. I hope this still works for you. 1) Install Giskard. Make sure you have the correct branch (AddNewRobots). After that you could try to run this demo from MuJoCo locally 2) Download this Content, copy to your Unreal project and open the Level DualPandaDemo 3) I believe you already have this mujoco_robots. To run this demo you need only 2 roslaunch (one to start rosbridge using port 9393 and this one) Here are the command steps:

roslaunch rosbridge_server rosbridge_websocket.launch port:=9393
Hit Play in your Unreal Editor
roslaunch mujoco_robots dual_panda_demo_ue.launch

[Nash-dc]

Thanks for your reply!!!you are a very nice person!!

[Nash-dc]

Hi Hoang, Currently, When I run the demo you gave me, I encountered the following error: LogWorld: Bringing World /Game/Content/UEDPIE_0_DualPandaDemo.DualPandaDemo up for play (max tick rate 0) at 2023.06.19-18.01.49 LogWorld: Bringing up level for play took: 0.001443 LogOnline: OSS: Created online subsystem instance for: :Context_13 LogROS: [OnConnection] Websocket server connected. LogROS: [Run] Advertising Topic /unreal/visualization_marker_array LogROS: [OnConnection] Websocket server connected. LogROS: [Run] Advertising Topic /tf LogROS: [OnConnection] Websocket server connected. LogROS: [Run] Subscribing Topic /dual_panda/joint_states LogROS: [OnConnection] Websocket server connected. LogROS: [Run] Subscribing Topic /mujoco/object_states LogROS: [OnConnection] Websocket server connected. LogROS: [Run] Advertising Service [/unreal/spawn_objects] of type [mujoco_msgs/SpawnObject] PIE: Server logged in PIE: Play in editor total start time 0.215 seconds. LogJointController: Error: Owner of JointController does not have URoboAnim LogROS: [OnConnection] Websocket server connected. LogROS: [OnConnection] Websocket server connected. LogJointController: Error: Owner of JointController does not have URoboAnim LogJointController: Error: Owner of JointController does not have URoboAnim LogJointController: Error: Owner of JointController does not have URoboAnim LogJointController: Error: Owner of JointController does not have URoboAnim LogJointController: Error: Owner of JointController does not have URoboAnim LogJointController: Error: Owner of JointController does not have URoboAnim Screencast from 19.06.2023 18:07:11.webm btw,from the video you can find that there is no robot in this demo scene.. I tried to solve this problem but I can't find what causes this problem...

[HoangGiang93]

Hi Hoang, Currently, When I run the demo you gave me, I encountered the following error: LogWorld: Bringing World /Game/Content/UEDPIE_0_DualPandaDemo.DualPandaDemo up for play (max tick rate 0) at 2023.06.19-18.01.49 LogWorld: Bringing up level for play took: 0.001443 LogOnline: OSS: Created online subsystem instance for: :Context_13 LogROS: [OnConnection] Websocket server connected. LogROS: [Run] Advertising Topic /unreal/visualization_marker_array LogROS: [OnConnection] Websocket server connected. LogROS: [Run] Advertising Topic /tf LogROS: [OnConnection] Websocket server connected. LogROS: [Run] Subscribing Topic /dual_panda/joint_states LogROS: [OnConnection] Websocket server connected. LogROS: [Run] Subscribing Topic /mujoco/object_states LogROS: [OnConnection] Websocket server connected. LogROS: [Run] Advertising Service [/unreal/spawn_objects] of type [mujoco_msgs/SpawnObject] PIE: Server logged in PIE: Play in editor total start time 0.215 seconds. LogJointController: Error: Owner of JointController does not have URoboAnim LogROS: [OnConnection] Websocket server connected. LogROS: [OnConnection] Websocket server connected. LogJointController: Error: Owner of JointController does not have URoboAnim LogJointController: Error: Owner of JointController does not have URoboAnim LogJointController: Error: Owner of JointController does not have URoboAnim LogJointController: Error: Owner of JointController does not have URoboAnim LogJointController: Error: Owner of JointController does not have URoboAnim LogJointController: Error: Owner of JointController does not have URoboAnim Screencast from 19.06.2023 18:07:11.webm btw,from the video you can find that there is no robot in this demo scene.. I tried to solve this problem but I can't find what causes this problem...

It seems like the robot couldn't be found in the screen. Could you click on the SkeletalMeshActor DualPanda in the Outliner (right top panel) and check if the SkeletalMesh is loaded. If not could you load that from the Content Browser? It should be in Robots folder. And then change the Anim to dual_panda_anim

[Nash-dc]

Hi Mr.Hoang, I tried to reload this SkeletalMeshActor DualPanda but it still didn't work.It seems like the dual_panda_anim is None. The following is the video. Screencast from 20.06.2023 00:21:46.webm

[HoangGiang93]

That looks weird, from your Content Browser I can see the dual_panda_anim. Can you click on that to see if you can load it? Otherwise please follow this tutorial to create an AnimInstance and attach to the robot.

[Nash-dc]

Hello Mr.Hoang, I tried to reload the Skeletal DualPanda and created an new AnimInstance but it is still didn't work. To solve this, I created a new level with the same setup like DualPandaDemo, and the previous errors didn't show again,I 'd appreciate your help on this. But some new problems occurs, I noticed that the ROSService Server didn't run properly.After I hit Play in Unreal editor, the output is the following:

LogROS: [Run] Subscribing Topic /joint_states
LogROS: [OnConnection] Websocket server connected.
LogROS: [Run] Subscribing Topic /base_footprint
LogROS: [OnConnection] Websocket server connected.
LogROS: [Run] Advertising Topic /unreal/visualization_marker_array
LogROS: [OnConnection] Websocket server connected.
LogROS: [Run] Advertising Topic /tf
LogROS: [OnConnection] Websocket server connected.
LogROS: [Run] Subscribing Topic /dual_panda/joint_states
LogROS: [OnConnection] Websocket server connected.
LogROS: [Run] Subscribing Topic /mujoco/object_states
LogTemp: [Update Object::BeginPlay()]
LogROS: [OnConnection] Websocket server connected.
LogROS: [Run] Advertising Service [/unreal/spawn_objects] of type [mujoco_msgs/SpawnObject]
LogROS: [OnConnection] Websocket server connected.
PIE: Server logged in
PIE: Play in editor total start time 1.057 seconds.
LogROS: [OnConnection] Websocket server connected.
LogROS: [OnConnection] Websocket server connected.

I can see that the Service [/unreal/spawn_objects] is advertising,but when I run rosservice list,

/rosapi/action_servers
/rosapi/delete_param
/rosapi/get_loggers
/rosapi/get_param
/rosapi/get_param_names
/rosapi/get_time
/rosapi/has_param
/rosapi/message_details
/rosapi/node_details
/rosapi/nodes
/rosapi/publishers
/rosapi/search_param
/rosapi/service_host
/rosapi/service_node
/rosapi/service_providers
/rosapi/service_request_details
/rosapi/service_response_details
/rosapi/service_type
/rosapi/services
/rosapi/services_for_type
/rosapi/set_logger_level
/rosapi/set_param
/rosapi/subscribers
/rosapi/topic_type
/rosapi/topics
/rosapi/topics_and_raw_types
/rosapi/topics_for_type
/rosbridge_websocket/get_loggers
/rosbridge_websocket/set_logger_level
/rosout/get_loggers
/rosout/set_logger_level

there is no service named /unreal/spawn_objects,then I run: roslaunch franka_mujoco dual_panda_demo_ue.launch the following error occurs:

Traceback (most recent call last):
  File "/home/dacheng/mujoco_ws/src/mujoco_robots/franka/franka_control/script/test_dual_joint_pick_place_ue_2.py", line 195, in <module>
    rospy.wait_for_service("/unreal/spawn_objects", 1)
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 148, in wait_for_service
    raise ROSException("timeout exceeded while waiting for service %s"%resolved_name)
rospy.exceptions.ROSException: timeout exceeded while waiting for service /unreal/spawn_objects
[dual_panda/test_2

Screencast from 27.06.2023 17:50:25.webm

Screencast from 27.06.2023 17:51:05.webm

It might be something wrong with the Spawn Object Server,I tried to look through the source code but I still can't understand why this service didn't run properly. the following video might help to understand the error:

I would be very appreciated if you can help me solve this.

[HoangGiang93]

I see you have 2 RoboManager, there should be only 1, something is wrong there

[Nash-dc]

I removed the other Robomanager.But this error still exist... Screencast from 27.06.2023 19:31:45.webm Screencast from 27.06.2023 19:32:25.webm

[HoangGiang93]

hmm it's look like the ROSBridge from Unreal doesn't connect properly, although the log does look fine. Normally when you command rostopic list it would show up more topics from Unreal. Can you screenshot your RoboManager? I would like to see if everything looks good there

[Nash-dc]

Thanks for your help.

[HoangGiang93]

I will try to reproduce this and let you know soon

[Nash-dc]

I am very appreciative for your help!!!

On Wed, Jun 28, 2023, 00:26 Giang Hoang Nguyen @.***> wrote:

I will try to reproduce this and let you know soon

— Reply to this email directly, view it on GitHub https://github.com/HoangGiang93/URoboViz/issues/5#issuecomment-1610304170, or unsubscribe https://github.com/notifications/unsubscribe-auth/ATRUBJEP2OIJGG6MQJVNO2TXNNMZXANCNFSM6AAAAAAY2BCP7A . You are receiving this because you authored the thread.Message ID: @.***>

[HoangGiang93]

I think I found it, you have to source the workspace that has mujoco_msgs first before run rosbridge_server. Your rosbridge doesn't know the service type mujoco_msgs/SpawnObject In summarize:

source mujoco_ws/devel/setup.bash
roslaunch rosbridge_server rosbridge_websocket.launch port:=9393

[Nash-dc]

It works!! many thanks for your help. Screencast from 28.06.2023 19:37:16.webm

[HoangGiang93]

In the video it seems like the less CPU of Unreal Engine is used, that causes lots of lagging. You can change that by disable the "Use less CPU..." in the Editor, like it shown here https://youtu.be/Sh5E39qcO90?t=56

[Nash-dc]

Tnank you Mr.Hoang, you are very nice. One more small question,I find that the small cube and sphere could not be load properly.

LoadErrors: Error: The summary for the package '/URoboViz/Assets/StaticMeshes/SM_Sphere' is invalid. Check that the file is of the expected type and not corrupted.
LoadErrors: Error: The summary for the package '/URoboViz/Assets/StaticMeshes/SM_Cube' is invalid. Check that the file is of the expected type and not corrupted.

I checked this path, and the file is exist and not corrupted.Could you tell me where you define this path, I would like to change it.

[HoangGiang93]

Sometime Unreal is so weird... actually it's just some primitive meshes with default size with no Material, you can try to recreate one and save it there

[HoangGiang93]

Open your Content, make sure the Plugin Content is checked, and search for Content of URoboViz

[Nash-dc]

Hi Mr.Hoang, I attempted to modify this demo, but I encountered some issues that I'm unable to resolve. I would greatly appreciate your help with this matter.

My goal was to replace the Cube/Zylinder/Sphere with another specific object called "board." However, after spawning the board in the Unreal Editor, it keeps falling down continuously. You can observe this behavior in the video displayed at the bottom-right corner, which shows the board's location. Screencast from 27.07.2023 16:59:50.webm Additionally, while investigating the issue further, I examined the rostopic /mujoco/object_states. I noticed that even though the board was manipulated by the DualPanda, the published location and rotation values remain unchanged.

Moreover, when I attempted to substitute the board with the Cube/Zylinder/Sphere you provided, the new object is still invisible in the Unreal Engine. and the published location and rotation for this new object also fail to update. Screencast from 27.07.2023 17:14:00.webm I would highly appreciate any insights or guidance you can offer to help me resolve these problems. Thank you for your assistance.

The code that I modified in test_dual_joint_pick_place_ue_1.py

def set_new_object():
    idx = randint(0, 2)
    spawned_object.info.name = "board"
    spawned_object.info.type = ObjectInfo.MESH
    spawned_object.info.movable = True
    spawned_object.info.size.x = 0.025
    spawned_object.info.size.y = 0.025
    spawned_object.info.size.z = 0.025
    spawned_object.info.rgba = ColorRGBA(1, 0.65, 0, 1)
    spawned_object.info.inertial.m = 0.01
    spawned_object.info.mesh = "/Game/Meshes/bowl/board.board"

    i_rr = 1/6 * spawned_object.info.inertial.m * \
        spawned_object.info.size.x * spawned_object.info.size.x
    spawned_object.info.inertial.ixx = i_rr
    spawned_object.info.inertial.iyy = i_rr
    spawned_object.info.inertial.izz = i_rr

    # spawned_object.pose.position.x = uniform(-0.2, 0.2)
    spawned_object.pose.position.x = 0.14
    spawned_object.pose.position.y = -0.8
    spawned_object.pose.position.z = 1.05
    spawned_object.pose.orientation.x = 0.0
    spawned_object.pose.orientation.y = 0.0
    spawned_object.pose.orientation.z = 0.0
    spawned_object.pose.orientation.w = 1.0

After I run rostopic echo /mujoco/object_states

header: 
  seq: 7926
  stamp: 
    secs: 1690470029
    nsecs: 544035769
  frame_id: "map"
object_states: 
  - 
    name: "board"
    pose: 
      position: 
        x: -0.11847461114281808
        y: -0.18558369160277557
        z: 0.9963789800750318
      orientation: 
        x: -0.0002772157844409831
        y: 0.0005478488866580032
        z: 0.9982006237351918
        w: 0.059959467873557444
    velocity: 
      linear: 
        x: -0.002053070881105436
        y: -0.0010359595340031147
        z: 0.0005954638889238222
      angular: 
        x: 0.3628230386171253
        y: -0.5241635319324344
        z: -0.020121978486561103
---
header: 
  seq: 7927
  stamp: 
    secs: 1690470029
    nsecs: 544696474
  frame_id: "map"
object_states: []
---
header: 
  seq: 7928
  stamp: 
    secs: 1690470029
    nsecs: 560712152
  frame_id: "map"
object_states: 
  - 
    name: "board"
    pose: 
      position: 
        x: -0.11847354395813092
        y: -0.1855778274386029
        z: 0.996378676767227
      orientation: 
        x: -0.00037144471498843257
        y: -0.00029018293687054625
        z: 0.9981910154660141
        w: 0.06012049954561662
    velocity: 
      linear: 
        x: 0.0009843318979584088
        y: -0.004829094723303196
        z: -0.00026914748455487313
      angular: 
        x: 1.3216720585336383
        y: 0.4366113636680262
        z: -0.022839715101534406
---
header: 
  seq: 7929
  stamp: 
    secs: 1690470029
    nsecs: 560947100
  frame_id: "map"
object_states: []
---
header: 
  seq: 7930
  stamp: 
    secs: 1690470029
    nsecs: 577370306
  frame_id: "map"
object_states: 
  - 
    name: "board"
    pose: 
      position: 
        x: -0.11847813707704954
        y: -0.18557570416876099
        z: 0.9963790220518096
      orientation: 
        x: 0.00027702622082369243
        y: -0.0005479734635451307
        z: 0.9981805112664539
        w: 0.060293365384567595
    velocity: 
      linear: 
        x: 0.004593476895065372
        y: -0.002124282579956107
        z: -0.00032249630594305184
      angular: 
        x: 0.43657555734119
        y: 1.3257844266103516
        z: -0.016295994441130814
---
header: 
  seq: 7931
  stamp: 
    secs: 1690470029
    nsecs: 577621178
  frame_id: "map"
object_states: []
---
header: 
  seq: 7932
  stamp: 
    secs: 1690470029
    nsecs: 594051019
  frame_id: "map"
object_states: 
  - 
    name: "board"
    pose: 
      position: 
        x: -0.11848018909833782
        y: -0.18557673735062424
        z: 0.9963784492501401
      orientation: 
        x: 0.0005494835923136606
        y: -0.00038279438734300944
        z: 0.99817021285391
        w: 0.060463027607114285
    velocity: 
      linear: 
        x: -0.0009809146646003728
        y: 0.004828925505103759
        z: -0.0002691652544290533
      angular: 
        x: -1.3216480746877808
        y: -0.43660204837537686
        z: -0.022479756581020194
---
header: 
  seq: 7933
  stamp: 
    secs: 1690470029
    nsecs: 594281637
  frame_id: "map"
object_states: []
---
header: 
  seq: 7934
  stamp: 
    secs: 1690470029
    nsecs: 610710570
  frame_id: "map"
object_states: 
  - 
    name: "board"
    pose: 
      position: 
        x: -0.11847461734378639
        y: -0.1855836918711673
        z: 0.9963790634337447
      orientation: 
        x: -0.0002768425548101627
        y: 0.0005480136349657698
        z: 0.9981606462173971
        w: 0.060621344278432306
    velocity: 
      linear: 
        x: -0.004591298612242086
        y: 0.0021269134851676225
        z: -0.00032250675340214684
      angular: 
        x: -0.4365668579722034
        y: -1.3257597230226503
        z: -0.01594044212444768
---
header: 
  seq: 7935
  stamp: 
    secs: 1690470029
    nsecs: 610949150
  frame_id: "map"
object_states: []
---
header: 
  seq: 7936
  stamp: 
    secs: 1690470029
    nsecs: 627371029
  frame_id: "map"
object_states: 
  - 
    name: "board"
    pose: 
      position: 
        x: -0.11847256504517037
        y: -0.1855826599239612
        z: 0.9963784904135828
      orientation: 
        x: -0.0005493506927456515
        y: 0.00038292563761324486
        z: 0.99815047503723
        w: 0.060787998525405514
    velocity: 
      linear: 
        x: -0.0020539190931276982
        y: -0.001032057760831791
        z: 0.0005954139292822073
      angular: 
        x: 0.36280628752687893
        y: -0.5241380635204612
        z: -0.019215152383621686
---
header: 
  seq: 7937
  stamp: 
    secs: 1690470029
    nsecs: 627606745
  frame_id: "map"
object_states: []
---
header: 
  seq: 7938
  stamp: 
    secs: 1690470029
    nsecs: 644035818
  frame_id: "map"
object_states: 
  - 
    name: "board"
    pose: 
      position: 
        x: -0.11847354220572756
        y: -0.18557783224340846
        z: 0.9963787818720565
      orientation: 
        x: -0.00037167046292584593
        y: -0.0002898603195490745
        z: 0.9981406127176077
        w: 0.06095157984647309
    velocity: 
      linear: 
        x: 0.004589144506356841
        y: -0.002129463111605842
        z: -0.0003225173459399128
      angular: 
        x: 0.43655830700034526
        y: 1.3257353845914985
        z: -0.015591196937840671
---
header: 
  seq: 7939
  stamp: 
    secs: 1690470029
    nsecs: 644270487
  frame_id: "map"
object_states: []
---
header: 
  seq: 7940
  stamp: 
    secs: 1690470029
    nsecs: 660725191
  frame_id: "map"
object_states: 
  - 
    name: "board"
    pose: 
      position: 
        x: -0.11848018403964103
        y: -0.18557673301916194
        z: 0.9963785311329969
      orientation: 
        x: 0.0005492154851939637
        y: -0.0003831344360222629
        z: 0.9981309835691808
        w: 0.06110721078215276
    velocity: 
      linear: 
        x: 0.0020542361380150934
        y: 0.00103058149525969
        z: 0.0005953974877509136
      angular: 
        x: -0.36279983856657616
        y: 0.5241282680297102
        z: -0.018870130709453217
---
header: 
  seq: 7941
  stamp: 
    secs: 1690470029
    nsecs: 660938628
  frame_id: "map"
object_states: []
---
header: 
  seq: 7942
  stamp: 
    secs: 1690470029
    nsecs: 677370704
  frame_id: "map"
object_states: 
  - 
    name: "board"
    pose: 
      position: 
        x: -0.11847921020697331
        y: -0.18558156031242198
        z: 0.9963788223332027
      orientation: 
        x: 0.00037175329015706364
        y: 0.00028969778888872334
        z: 0.9981212483513328
        w: 0.06126786649018742
    velocity: 
      linear: 
        x: -0.0009724669223539636
        y: 0.0048284276885853065
        z: -0.00026920372637017037
      angular: 
        x: -1.3215884316193849
        y: -0.43657900059689514
        z: -0.02159215902586311
---
header: 
  seq: 7943
  stamp: 
    secs: 1690470029
    nsecs: 677608865
  frame_id: "map"
object_states: []
---
header: 
  seq: 7944
  stamp: 
    secs: 1690470029
    nsecs: 694035213
  frame_id: "map"
object_states: 
  - 
    name: "board"
    pose: 
      position: 
        x: -0.11847257017659452
        y: -0.18558266331935774
        z: 0.996378571338608
      orientation: 
        x: -0.000549087751802828
        y: 0.0003832601735479942
        z: 0.9981117376952484
        w: 0.06142076757296412
    velocity: 
      linear: 
        x: -0.0020545481763118564
        y: -0.0010291063790420977
        z: 0.0005953791860585547
      angular: 
        x: 0.3627935011024559
        y: -0.5241185656350403
        z: -0.018531294575780885
---
header: 
  seq: 7945
  stamp: 
    secs: 1690470029
    nsecs: 694880930
  frame_id: "map"
object_states: []
---
header: 
  seq: 7946
  stamp: 
    secs: 1690470029
    nsecs: 710712923
  frame_id: "map"
object_states: 
  - 
    name: "board"
    pose: 
      position: 
        x: -0.11847354079076719
        y: -0.18557783601325814
        z: 0.9963788622667514
      orientation: 
        x: -0.0003718399855513177
        y: -0.0002896171604087131
        z: 0.9981021290565729
        w: 0.06157855007762095
    velocity: 
      linear: 
        x: 0.0009692513772020135
        y: -0.004828216915794339
        z: -0.00026922141229508337
      angular: 
        x: 1.3215655339953571
        y: 0.4365701485500916
        z: -0.021254433222838192
---
header: 
  seq: 7947
  stamp: 
    secs: 1690470029
    nsecs: 711404010
  frame_id: "map"
object_states: []
---
header: 
  seq: 7948
  stamp: 
    secs: 1690470029
    nsecs: 727374290
  frame_id: "map"
object_states: 
  - 
    name: "board"
    pose: 
      position: 
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[HoangGiang93]

Before I start thinking about the issue, I would like to ask if my demo works from your side seemlessly?

[Nash-dc]

Yes, in my computer it works very differently and of course seemlessly.

On Thu, Jul 27, 2023 at 7:27 PM Giang Hoang Nguyen @.***> wrote:

Before I start thinking about the issue, I would like to ask if my demo works from your side seemlessly?

— Reply to this email directly, view it on GitHub https://github.com/HoangGiang93/URoboViz/issues/5#issuecomment-1654073481, or unsubscribe https://github.com/notifications/unsubscribe-auth/ATRUBJGOWGL4UODYMINT7CTXSKQGPANCNFSM6AAAAAAY2BCP7A . You are receiving this because you authored the thread.Message ID: @.***>

[HoangGiang93]

Well the location and rotation look fine for me, the board is controlled by MuJoCo and the pose is published to ROS, everything from MuJoCo looks as good as it should be. However, the only issue is that the board in Unreal doesn't have connection with the board in MuJoCo. One solution could be that you spawn them in MuJoCo and Unreal seperately using 2 service calls (/unreal/spawn_objects and /mujoco/spawn_objects). Before hit Play please untick the option "Spawn object in MuJoCo" in the spawn_object service server in ARoboManagaer from the Editor. Remember to keep the object names the same because that is the only identity that Unreal need to connect with the object from MuJoCo. You couldn't use any other color than I created in the demo because in Unreal it's not possible to generate new material in runtime, so please choose one color from there because they are precompiled in Unreal. Actually currently I'm working on a new project that use a different approach than this demo. The setup is also much more simpler and no ROSBridge is needed. If you couldn't make it work then I could send you a different setup.

[HoangGiang93]

https://github.com/Multiverse-Framework/Multiverse it is

[Nash-dc]

Thanks for your solution Mr.Hoang,I am really willing to try your new framework!!

[Nash-dc]

Thank you, Mr. Hoang, for your assistance. I truly appreciate your help. Currently, I am attempting to use Multiverse, and I have successfully built it. I am highly intrigued by your Demo and would love to learn more about it. the MuJoCo side is running smoothly (left side), but unfortunately, I don't have access to the corresponding demo for the Unreal Engine (UE) side. If it's not too much trouble, would you be kind enough to share a copy of this demo in Unreal with me? I would be sincerely grateful for your assistance. Furthermore, I recall you mentioning that Multiverse doesn't require ROSbridge. I am quite curious about how the communication between ROS, MuJoCo, and Unreal is achieved in Multiverse. If you could shed some light on this matter, I would greatly appreciate it.

[HoangGiang93]

Thank you for your interest. Currently, I'm busy developing it and writing a paper in parallel so I have no time to write tutorials or explain in more details. You can clone this repo and play some demos in the Content of the Plugin. If you wanna try the same demo as in the video, please comment out the line 33-39 in this and do the following:

roslaunch multiverse_server multiverse_server.launch
roslaunch mujoco_sim multi_mujoco_sim_ref.launch
Hit Play in the MultiRefMap from [Content]([MultiSimRef.umap](https://github.com/Multiverse-Framework/Multiverse-UnrealEngine-Connector/blob/e4c117fb0a882787cc09baf98321140f13fccfaf/Content/MultiSimRef.umap))

Actually these 3 steps can be started in any order, you can also cancel and restart any step in any order as well. If the server starts before the clients, it will wait for the clients. If the clients start before the server, they will wait for the server. If any of them disconnect, the server will wait for the client to reconnect and vice versa. I will implement a demo relating to pick and place next week and can send you instruction to reproduce. Sorry for now I'm buried in works.

[Nash-dc]

I really really appreciate your explanation!!! As a newcomer to ROS, I genuinely appreciate how much I've learned from your projects. The detailed wiki and your patient responses to beginner questions have been immensely helpful. I cannot thank you enough and wish you all the best with your papers and projects.

On Sat, Jul 29, 2023 at 9:57 PM Giang Hoang Nguyen @.***> wrote:

Thank you for your interest. Currently, I'm busy developing it and writing a paper in parallel so I have no time to write tutorials or explain in more details. You can clone this repo https://github.com/Multiverse-Framework/Multiverse-UnrealEngine-Demos and play some demos in the Content https://github.com/Multiverse-Framework/Multiverse-UnrealEngine-Connector/tree/e4c117fb0a882787cc09baf98321140f13fccfaf/Content of the Plugin. If you wanna try the same demo as in the video, please comment out the line 30-33 in this https://github.com/Multiverse-Framework/Multiverse-MuJoCo-Connector/blob/c35f4b6226f9b7b37ef0746652d4e29832181a7f/mujoco_sim/model/test/pendulums.xml#L30-L33 and do the following:

roslaunch multiverse_server multiverse_server.launch roslaunch mujoco_sim multi_mujoco_sim_ref.launch Hit Play in the MultiRefMap from Content

Actually these 3 steps can be started in any order, you can also cancel and restart any step in any order as well. If the server starts before the clients, it will wait for the clients. If the clients start before the server, they will wait for the server. If any of them disconnect, the server will wait for the client to reconnect and vice versa. I will implement a demo relating to pick and place next week and can send you instruction to reproduce. Sorry for now I'm buried in works.

— Reply to this email directly, view it on GitHub https://github.com/HoangGiang93/URoboViz/issues/5#issuecomment-1656861467, or unsubscribe https://github.com/notifications/unsubscribe-auth/ATRUBJA7PFRETGDWANTGN3TXSVTIZANCNFSM6AAAAAAY2BCP7A . You are receiving this because you authored the thread.Message ID: @.***>

[Nash-dc]

Hi Mr.Hoang,I successfully ran your Multiverse-demo ur5e_with_task_board, thanks a lot for your work!

However,I noticed that after running roslaunch ur5e_with_task_board demo.launch, the communication with Unreal is established, but the MuJoCo demo does not appear on my screen.

Upon comparing this ur5e launch file with the dualpanda demo launch file you provided earlier, and after reviewing your mujoco_sim source code, I noticed that there is no mujoco_compile_node in the Multiverse-Framework.

I believe this is the reason why the MuJoCo demo didn't show up. I am wondering why you deleted this node in Multiverse, and if you have any other alternative solutions for this issue?

I appreciate your help and clarification on this matter. Thank you again for your efforts!

[HoangGiang93]

Well actually it's not, you need to clone these 4 repos in your src to have the demos running: https://github.com/Multiverse-Framework/Multiverse-World https://github.com/Multiverse-Framework/Multiverse-Objects https://github.com/Multiverse-Framework/Multiverse-Robots https://github.com/Multiverse-Framework/Multiverse-Demos

Here are the step:

roslaunch multiverse_server multiverse_server.launch # Run the server
roslaunch ur5e_with_task_board mujoco.launch headless:=false # Run MuJoCo with GUI
roslaunch ur5e_with_task_board multiverse_client.launch # Run the ROS client

You can hit Play in the Demo in Unreal whenever you want. As long as the connection establishes you will see that.

[HoangGiang93]

I moved mujoco_compile_node out because it's part of multiverse_parser now, it' just a conversion from urdf to mjcf

[Nash-dc]

Thanks a lot! Now the demo is running,I found roslaunch ur5e_with_task_board demo.launchdoesn't work, I must run these launch file seperately.

[Nash-dc]

Hi Mr.Hoang, I want to express my gratitude for your incredible framework, Multiverse, which allowed me to successfully run a DualPanda robot.

However, I am now looking for an alternative framework that can control the robot in MuJoCo, similar to how Giskard operates (which you used before).

Unfortunately, my attempt to integrate Giskard into my project was unsuccessful. I would greatly appreciate any suggestions you might have in this regard. Thank you!

[HoangGiang93]

To control the robot, you can use the interface from joint_trajectory_controller action. You could control it by running this GUI: rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller.launch