Just wondering if anyone else is getting kernel panics on their mac
when running http://playground.pollen-robotics.com
Its repeatable - whenever I load this page and try to use via reachy python API
my mac will kernel panic.
Appears to happen on both chrome and firefox.
On chrome it will kernel panic, on firefox itt will either
kernel panic or at times firefox will catch it and just terminate the tab.
Hi @Geoff,
Sorry to hear about your trouble. From my understanding kernel panic usually comes from hardware issue. Our simulator is built on WebGL that tries to use your GPU. Maybe that’s where the problem comes from?
Hi @pierre,
I was just trying to connect the web-based simulation to control Reachy, but I unable to connect it via websocket and python server.
Can you help me with how to use the web-based simulator?
Hello @shyam_g,
What error do you get when trying to connect to the simulator (if you get one)? Can you explain which steps you followed when you tried to use it?
Thanks @Gaelle for taking a note of this. I was not able to connect initially but now I’m able to connect and control arms.
Still I can’t find a way to control head, is there any to just control head not getting camera feed would work?
Nice, I am happy to read you finally manage to use the arms!
You can in fact control the head.
To use it, you need to declare the part Head when you instantiate Reachy:
r = Reachy(
right_arm=parts.RightArm(io='ws', hand='force_gripper'),
left_arm=parts.LeftArm(io='ws', hand='force_gripper'),
head=parts.Head(io='ws'),
)
Everything has not been implemented yet to fully control the head on the simulation, but you can use the look_at function to make the head move. If you define a point (x, y, z) in Reachy’s coordinate system, he can look at this point using:
r.head.look_at(x, y, z, duration=1, wait=True)
For example, if you want Reachy to look down:
r.head.look_at(0.5, 0, -0.2, duration=1, wait=True)
Hope this will help!
Hi there! Is there a way to connect to the simulator remotely? I am experimenting with ROS on a Jetson Nano, and the Unity Player does not support ARM64, so I am hoping to launch the simulator on my Mac, and connect to it from the Nano.
Hello @edj,
Unfortunately you cannot connect remotely to our online simulator.
Nevertheless you can create your own simulator using our package for Unity: Unity package for Reachy 2019 robot!
Hello!
I was hoping to try out the online simulator, but this link (http://playground.pollen-robotics.com/) doesn’t seem to direct me to the right page. Is there another link that I may use?
Hello @nikikim,
Thank you for notifying us about this problem!
The link is in fact broken , we will let you know when the online simulator is available again.
Best regards,
Gaëlle
Hi,
The simulator for Reachy 2019 is available again on https://pollen-robotics.github.io/reachy-simulator/.
It should be back soon on the usual address as well.
https://pollen-robotics.github.io/reachy-docs/docs/program-your-robot/control-the-arm/ Is there a different address to this link? If not, where may I find more instructions on controlling Reachy either on the local or online simulation?
Hi @nikikim,
The link is now Control The Arm | Reachy manual. It has changed because we made a documentation for 2021 version of Reachy.
awesome. thank you so much! I’m a bit new to all this. How do I connect Reachy to a Jupyter notebook that can send it movement instructions?
from reachy import parts, Reachy
r = Reachy(
right_arm=parts.RightArm(io='ws', hand='force_gripper'),
left_arm=parts.LeftArm(io='ws', hand='force_gripper'),
)
The commands are given in the first post of this thread 
how do I get to where I put in these commands? I’ve already downloaded the python package
Hello @nikikim,
You need to install jupyter notebook on your computer (which depends on the environment you are working on) and then simply run it.
You can find the documentation to install it depending on your environment and to run it there: Project Jupyter | Installing the Jupyter Software
Best regards,
Gaëlle
Hello,
I am very interested in Reachy, when I try to open the online simulator the browser tell me Page not found :(The page you are looking for doesn’t exist or has been moved.)
Is there another URL or I have a problem.
Thank you,
Dear @Mariam_Kashkash ,
Sorry for the delay in replying!
I see that you’ve referred to a fairly old topic which contains an old way of obtaining Reachy by simulation and which is no longer active today.
To control a Virtual Reachy, here’s the link that tells you the 2 ways to do it (Unity or Gazebo): About the Simulation & Virtual Reachy category
I hope you find this useful.
Dear AnnaelleS,
Thank you for your repayment.