Hacker News Board Hacker News, browsed like a classic message board
Live data from Hacker News

OpenArm: An open-source 7DOF humanoid arm

github.com

Post reply on HN
Print view View original

21–30 of 30 posts

Re: OpenArm: An open-source 7DOF humanoid arm

#21

Post by moffkalast »

drapado wrote: post #18
moffkalast wrote: post #17

Earlier quoted context omitted.

One would expect it to at least have calibration and inverse kinematics solved. That's still a massive pain point for the SO-ARM101 despite it being so common now, since there's no base_link to gripper calibration nor sag compensation and every center offset stacks. Lerobot banked on having full DL control of each joint so they wouldn't have to do that properly, but now VLAs just use inverse kinematics as a crutch an…

Hi! do you have any references for VLAs using inverse kinematics? I'm very curious and can't find much

I'm not super up to date on new releases, the one I'm most familiar with is X-VLA which predicts gripper poses and relative movement deltas for kinematics to move to instead of joints, and trains on forward kinematic gripper poses. I think Intern and Octo have the same approach.

Re: OpenArm: An open-source 7DOF humanoid arm

#23

Post by embedding-shape »

bluebarbet wrote: post #16
NegativeLatency wrote: post #2

Crosses fingers for a general purpose laundry folding bot

To me it does not seem like progress that, on a stressed and finite planet, humanity might "need" an energy- and resource-intensive machine to complete a task as physically undemanding (and even frivolous) as folding a sheet. But here we are.

I see people taking cars for distances that would take 10-15 minutes to walk. If we're hunting to cut down on inefficiencies, there is a lot of stuff we could attack before a robot arm becomes impactful enough to care about.

Re: OpenArm: An open-source 7DOF humanoid arm

#29

Post by westurner »

- enactic/openarm_mujoco: https://github.com/enactic/openarm_mujoco

- "Robots – Comprehensive catalog of 115 humanoid and quadruped robots" re: MJCF in mujoco_menagerie, awesomerobots, robot-descriptions/awesome-robot-descriptions: https://news.ycombinator.com/item?id=45727432

- I can think of at least one museum that already has interactive demo robot arms that are in need of repair or replacement

Re: OpenArm: An open-source 7DOF humanoid arm

#30

Post by slfnflctd »

prometheus1992 wrote: post #28

i'm not really sure if people are being sarcastic about laundry folding being the real application of this because I have never felt in my life that i want a robot folding my laundry. i actually love folding my laundry.

It's a huge milestone for robotic capabilities more generally. This particular problem has been discussed a ton in robotics communities. It requires a gentle-but-firm grip and extreme dexterity across a wide range of shapes, sizes, weights, densities and material types.

If a somewhat affordable robot can fold some of your laundry in a reasonable amount of time, all of a sudden there are a lot more new and useful things it can do as well. It's a metric.

Plus there are also people who don't like folding laundry. Like me.

Post reply on HN