Botopia Robot Simulator

Gripper – · drag to orbit, scroll to zoom

Hold to move the gripper

Gripper OM-X gripper + wrist camera

Joints servo targets

Camera vision simulated camera

Uses the real camera when it is on (Real robot panel), else the simulated one. Then Put it down here as usual.

Real camera: print the calibration sheet (A4 PDF) at 100 %, lay it as in the simulator (landscape, its top edge flush with the plate's front border, the dashed line on the robot's centre line) and press Calibrate.

Go to mm · z = bottom of the fingers

x y z tilt

x: from the first servo's axis, + forward · y: + right, − left · z: 0 = the fingers on the base plate.

Real robot OpenCR over USB

Not connected. Upload opencr/botopia_omx/botopia_omx.ino to the OpenCR, plug it in, then Connect (Chrome or Edge).

Digital twin: show the real arm (blue) Real arm follows the simulator

The USB camera on the real gripper: shown top left, beside the simulated one.

Show joint numbers in 3D

ROBOTIS OpenMANIPULATOR-X: four Dynamixel XM430-W350 joints and a fifth for the gripper (dimensions from ROBOTIS' model, reach 38 cm, 13–65 mm between the fingertips). With four joints it can put its gripper anywhere within reach and choose how steeply it points down (Tilt), but it can't turn the gripper round its own axis: the gripper always points the way the base turns. A small camera on the wrist and a second one on a tripod (the whole arm) give the two camera pictures. The buttons move the gripper in straight lines (inverse kinematics); Pick takes the block nearest to the gripper. The blocks are tower-game blocks (75 × 25 × 15 mm): the gripper takes one across its 25 mm width, so only a block that lies pointing towards the arm (lengthwise, within about 15°) can be picked up. Collisions with the base plate, the arm's own foot and itself are avoided (not with the blocks: the gripper has to reach in among them): Go to and Pick plan a way round them, any other move stops just before. Real robot: upload opencr/botopia_omx/botopia_omx.ino to the OpenCR board and connect it over USB: the real arm shows as a blue digital twin, and follows the simulator only when you tick it. Camera on shows the USB camera on the real gripper top left in the view, beside the simulated wrist camera. Tutorial 6: the arm stands the blocks up on the orange spots and learns the right height. Camera vision: a fixed camera on a pole in the middle of the plate's front border looks at the calibration sheet; the arm stands up out of its way (leaning back, it does not turn), it finds the blocks lying flat on the sheet (wooden blocks only show against its white paper) in the picture (the real USB camera when it is on: it switches on by itself when the OpenCR connects, if you chose it before) and puts the simulated blocks there; Pick (camera) then picks one. For the real camera, Calibrate once with the A4 calibration sheet (img/calibration-sheet-a4.pdf) in front of the arm, as on the simulated plate: it finds the squares, and where the camera is, by itself.