ROBOTIC SIMULATOR IN UNREAL ENGINE. PART 1
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- Опубликовано: 18 сен 2024
- I've started developing robotic simulator in Unreal Engine 5. Hopefully, I'll be able to use it in conjunction with ROS and MoveIt. Unreal Engine provides much more flexibility in creating photorealistic virtual environments for robot training then traditional simulators like Gazebo.
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Keep it up. Waiting for the next part.
Дякую за відео, все гарно пояснили👍🇺🇦
Glory to Ukraine, I really respect the fact that despite all the stuff your Country is going through, you still get the time to produce this content, now if that's not real passion, I don't knw what is, this actually opened my eyes, I've been learning about ROS of recent but had no idea this was even possible, wow, thanks for the eye opener, mad respect bro
Glory to heroes! Thank you so much for these words!
Good introduction video, this will help me. Keep strong, keep fighting!
Good video 💙💛
Thanks for the video
Thanks!!! For good video!!!😊
Injeciton molding machines use robots to extract the part out of the mold. That could be quite nice to have in ue5
This is great. Im researching a way to use the robodk API in unreal or unity to add physics to my simulations and found this. Not exactly what Im looking for but interesting nonetheless.
we need part 2! it was sooo good
where ı found robot arm pack ?
Great video mannn keep it up
Bro I've a doubt on how can we integrate the UE5 with ROS
Thank you for this video.
Could this be mocked up with basic cylinders (Static Mesh Actors) directly in the engine? Or would there be issues with the physics?
It would look bad, but I don't care about that for now.
There shouldn't be any problems, I guess. Just enable physics simulation on each cylinder an set its mass.
Thank you@@roboage1027. I did get it working using basic Static Mesh Actors this morning. I am using the Angular Motor on joints to move to Target Orientations. It works fine, but I want to develop more control of the speed and strength variables of the movements. When Target Orientation > Strength is set low (~50), the arms move slowly and they bounce around too much. When Strength is set high (~5000) they move fast and are rigid. My next goal is to move the arms slowly but rigidly, with confidence.
Then the next goal is to attach a CineCamera to the head of the robot, and to be able to use a gamepad (xbox controller) to steer to the camera on the end of the arm. I want the camera's position to drive the joints and link rotations somehow. Not sure how I will do it yet.
All the Best.
Angular Damping and Mass are helping this control very nicely.
Really appreciate what you are doing here, keep it up :) would be great to have discord to talk about this stuff
Thank you so much!
Thanks! It really helps me. Could I know how to add the PID controller using c++ code?
Just add c++ component to the main actor. Select the actor in the explorer and press "Add" button. Choose c++ component. And inside that c++ class you can do all the PID stuff.
@@roboage1027 Fine! Thank you!
Awesome video! Where can I get the robot model and messhes you used?
This was one of the designs of my 3d printed robotic arm. I modeled it in solidworks. You can download meshes of some industrial robots from github for example(github.com/IFRA-Cranfield/ros2_RobotSimulation/tree/foxy).
Привіт. Чи міг би ти зробити таке відео українською мовою? Було б чудово.
Вибачте за пізню відповідь. Зараз проблеми з інтернетом. Думаю Ви знаєте про що я!. Обов'язково зроблю. Дякую за коментар!
@@roboage1027 Очень-очень хорошо знаю. Спасибо друг.
hello. where we can find the parts of the following robot and the files of Degree of freedom you used? please help
This is the robot I'm working on now. I designed it myself in SOLIDWORKS. It has 6 degrees of freedom. You can download urdf files of some of the industrial robots from GitHub . There's plenty of them available.
Is there a part 2 to this? I've been searching for it but I can't find it. I'd like to see how you created the PID control.
Actually part 2 is about connecting Unreal with ROS2. I've decided to use Unreal engine as sort of frontend for ros and gazebo. About PID. Sorry for not showing how I've implemented it in video. But it is very simple. I used velocity mode for angular motors of physics constraint components. And in Tic function i calculated error between current position and target position, multiplied it by some gain and used this value as velocity command for the motor.
Thanks 🫡
Привет. Увидел на ваших видео что вы используете Odrive и энкодер AMT212. При запуске вы постоянно проводите определения положения редуктора? Я использую Odrive совместно as5047p. В этом случае один раз откалибровал и все каждый раз при включении знаешь в каком положении находится вал. Еще вопрос. Вы снимаите показания с енкодера уже после редуктора? Или это показания напрямую с вала мотора?
Енкодер стоїть на валу двигуна. Абсолютну позицію кожної ланки робота я визначаю за допомогою акселерометра і гіроскопа. В мене є зустрічне питання. Який Odrive Ви використовуєте? Я використовую Odrive v3.6, він не підтримує абсолютний енкодер.
Отвечаю с другого аккаунта по техническим причинам.
Я использовал Odrive v3.5 и долго мучился настройкой. Пока мучился с настройками сгоряча заказал версию 3.6 так как Гугле все ответы были именно для этой версии. Но я абсолютно уверен что также можно настроить и на Odrive v3.6 тем более что все пины под SPI там в наличии. Ну и схемотехника у них плюс-минус одинакова. Если интересно могу скинуть свой конфиг
Can we test it's interaction with other physical object? Please let me know..
it's just the beginning. I'm working on this project. I want to connect unreal engine to ROS and use it as a frontend for gazebo physics simulator. For now it's very rough. I'll post new videos abou the progress.
Good afternoon Sir!
After your last video I've read a lot of information about ros2 system and training tools. And I would like to ask you, Why did you decide to work with UE instead of Nvidia Isaac Sim? I've installed Isaac Sim and found it extremely powerful and you have all necessary tools out of the box. And also they provide very good documentation.
In your previous videos I saw that you have really good understanding as an engineer and as programmer and I think you can built very interesting project. But I don't understand your choice for materials of joints and gear system which is quite difficult to use in industrial applications. In my opinion I would create this robot in metal or something like this. Anyway if you need to train your model I can provide you power of my workstation. Now I have RTX 3090, Threadripper 32 cores, 128 GB RAM and 2 M2 nvme 1 tb each and also I have server with 256 GB of ram and two processors on board also it is possible to install rtx graphic cards later.
Best regards,
I'm located in Portugal now. We have manufactury company in fashion sector. I'm CTO of production and my interest is to build robot arms for industrial application. I found that Industrial robots is very expensive and in our case we need not one robot we need fleets of robots and in this year I start to build department which will be responsible for development tools for our needs. Such as robot arms and pneumatic automation systems based on web interfaces and centralized control. And big part of this project is AI which need for this robots. Pytorch and other tools for training. So if you are interesting in collaboration please let me know.
Thank you for your comment. I don't use isaac sim, because it's very demanding in terms of hardware. Besides, I'm planning to use UE for some other purposes, so I've decided to get some practicing with it. Concerning materials. I agree that metal would be much better, but unfortunately i only have 3d printer for now. Besides my robot is not intended to be real industrial robot. It's more of a prototype. Thanks again for your comment!
Thank you for your proposal Of course I'm interested! You can email me. I'd like to hear more about your project.
Can we simulate a robot using actual data ..?
please send me link mate :)
hello, I was following your tutorial on making an 6 dof robot in UE5.2.1. I have some problem on connecting joints and moving it. In your video I can see the joints are moving, but not mine. Is there some works or plugins before doing this process?? Thank you for uploading this video and Glory to Ukraine.
Glory to heroes! No plugins, just physics constraint components and angular motors. Can you give me more information on how you set up your joints?
@@roboage1027 Can I send you an email? I've just set as yours 07:39. But it's not moving. And, I'm struggling with reading URDF, too...
I have the same issue. I have created joints as you said. But on Game mode it is not moving. Anything else need to do? Can you please help
Just in case anyone's still struggling with this, here's what worked for me: 1) from inside the blueprint, select each part, check 'Simulate Physics' and set 'Collision Presets' to 'Physics Actor'. 2) Edit the static mesh of each part, set 'Collision Presets' to 'Physics Actor', and click the 'Collision' dropdown at the top of the page, then 'Auto Convex Collision' and 'Apply' (if you haven't already set your collision bounds).
@@nickishungry Thanks for the input. Do you have any idea how to actuate the joints realtime
Можно уже 2 часть пожалуйста🥹
Glory to Ukraine 🇺🇦
Glory to Heroes!