Let’s Explore the Inside of the Robot’s Body!

Follow Along: Robot Sensor Visualization

- This mission is an team project
- Access the Isaac Sight server and monitor the robot's sensors.
- While moving the robot, check the change amount of the sensors according to the change of the robot.

Overall Description

  • The sensors in the body of the robot are similar to those in the human body.

  • The table below compares the sensors on the robot with those in the human body.

Inside the Robot

Inside the Human

part_1

part_6

Jetson Nano

Brain

part_2

part_7

LIDAR Sensor

Superpower

part_3

part_8

Camera

Eyes

part_4

part_9

Ultrasonic Sensor

Ears

part_5

part_10

Battery

Heart

  • Like the human body, each sensor in the robot is work together again.

  • We will go inside the robot’s body and explore how its sensors work.

  • For this mission, we will access Isaac Sight, and check how the visual representations change when we move our robots.

Accessing Isaac Sight

  • Isaac Sight web service is mounted on port:3000 and can be accessed via http://10.42.0.1:3000/ website.

  • Make sure that the host computer is connected to the zeta wifi.

  • When the website is accessed, the screen similar to the following will be displayed:


  • The middle of the section displays multiple windows with 2D visuals from various sensors.

  • The color and other visual settings may be accessed via the pencil icon or by directly updating the setting by right clicking on the desired visual.

  • On the left you, the Isaac Sight displays all the available channels which can be visualized.

  • Activate all the available sensors and check for the visuals.

Checking Visuals

  • Lets move our robot to check how the visuals of the sensors change.

  • IMU stands for Inertial Measurement Unit.

  • IMU is a device that measures and reports the specific force (acceleration) and angular rate (rotation) of an object in three-dimensional space.

  • Odometry is a method used to estimate the position and movement of a robot or a vehicle based on the changes observed in wheel motion.

  • Odometry relies on measuring the rotation of wheels and the distance traveled by a robot or a vehicle to estimate its movement and position.


  • In this part, the angular x,y,z and orientation x,y,z,w values of the IMU value can be checked with graphs and measured values.


  • In this part, you can check the orientation, z, w values, position x, y values, and ilnear x, angular z values of Odometry with graphs and measured values.