Build a simulated grasping application with machine learning in CoppeliaSim

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Type of course:

Digital learning, Path

Language:

EN

Duration:

3 hours, 20 minutes

Proficiency:

Intermediate

Target:

Professionals, Students, Workers

It explains, step by step, how to do a grasping application in the robotic simulator CoppeliaSim which interacts with an AI model through ROS. This learning path is reusing a nugget from the previous consortium EROS4-PRO. In the details there are:- Brief introduction of some CoppeliaSim modules- Tutorial to do a grasping application in CoppeliaSim- Extraction of cameras images simulated in CoppeliaSim- Explanation of how to use ROS nodes to control a robot arm
– Training and Use of a AI model to detect object in cameras images simulated by CoppeliaSim- Tutorial to learn how to use ROS to interface both AI and CoppeliaSim model to do a deeper Grasping application
Finally your knowledge acquired during this learning path will be assessed in dedicated quiz nugget.

Learning outcomes

Can train and use a neural network to detect objects in camera images
Can simulate a grasping application with a robot in CoppeliaSim
Can use ROS to interface IA model and robotic simulation

LessonCoppeliaSim - How to control objects and set up Inverse Kinematics of robots

Course Content

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CoppeliaSim - How to control objects and set up Inverse Kinematics of robots 6 Unities

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Single module Content

0% Complete 0/6 Steps

Build your robot with a scene hierarchy

Dynamic/Non-Dynamic, Respondable/Non-Respondable Body

Control the joints within a embedded script

Inverse Kinematics - 1

Inverse Kinematic - 2

LessonCoppeliaSim - Simulate a grasping operation with a robot

Course Content

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CoppeliaSim - Simulate a grasping operation with a robot 13 Unities

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Single module Content

0% Complete 0/13 Steps

Grasping operation in CoppeliaSim

Set up inverse Kinematics of the robot

Try the Inverse Kinematics Model

Control a conveyor

Add some parameters to control the conveyor

How to grasp an object

Order tasks to do a fully grasping application

An example of a more complete application

Summary and credits

LessonCoppeliaSim - Extract camera images from a simulation

Course Content

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CoppeliaSim - Extract camera images from a simulation 9 Unities

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Single module Content

0% Complete 0/9 Steps

CoppeliaSim - Extract camera images from a simulation

Import a support scene

Add a vision sensor and set it up

Add a target for a camera pose

Save images in a png file

Add vision sensor data in a ROS topic

Summary and Credits

LessonCoppeliaSim - Control a robot arm with ROS

Course Content

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CoppeliaSim - Control a robot arm with ROS 8 Unities

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Single module Content

0% Complete 0/8 Steps

CoppeliaSim - Control a robot arm with ROS node

Welcome / Overview Page

Install Teleop_twist_joy ROS package

Add a new ROS node to this package

Import support scene

Summary and Credits

LessonCoppeliaSim - Explanation and building of an AI model for object detection in a camera image

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CoppeliaSim - Explanation and building of an AI model for object detection in a camera image 9 Unities

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Single module Content

0% Complete 0/9 Steps

CoppeliaSim - Explanation and building of an AI model for object detection in a camera image

Welcome / Overview Page

Explanation of the scenario

Import AI model

Description of each python file and the model used

Use the model on new images

Summary and Credits

LessonCoppeliaSim - Interface both AI and CoppeliaSim models through ROS (Grasping application)

Course Content

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CoppeliaSim - Interface both AI and CoppeliaSim models through ROS (Grasping application) 8 Unities

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Single module Content

0% Complete 0/8 Steps

CoppeliaSim - Interface both AI and CoppeliaSim models through ROS

Welcome / Overview Page

Explanation of the scenario

Example of a solution (AI model)

Example of a solution (CoppeliaSim part)

Test your simulation

Summary and Credits

LessonBuilding a grasping application with AI and CoppeliaSim : Check your knowledge

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Building a grasping application with AI and CoppeliaSim : Check your knowledge 1 Unity | 1 Quiz

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Single module Content

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Assessement of LP 546

Assessment of LP "Build a simulated grasping application with machine learning in CoppeliaSim"

Topics

Automation and Robotics, Digital Transformation, Cobots, Robots, Robot Operating System (ROS), Simulation Tools, Artificial Intelligence (AI), Programming

Provided by

Arts et Métiers Institute of Technology

Content created in 2023

+222 enrolled

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Course Includes

1 Quiz
1 Certificate of achievement

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