October 26, 2026

• An option is to purchase a GALAXEA R1 PRO | Humanoïde Robot | 26 DOF.
• That seems to be an upgrade of Iggy Rob.
• The rbtx has a page ros-nodes-rebel, but the bitbucket link no longer works.
• On github I found ros2-igus-rebel from the Artificial Intelligence and Robotics Lab of Politecnico di Milano
• Seems that they needed this repository because they have a Igus Rebel arm on AgileX Scout wheeled robot (2023/2024).
• RBTX is only the local reseller, the actual robot is from galaxea.ai.
• Platform is used in several good Chinese and USA universities (no-EU university in the list).
• The UserGuide is rather rudimentair.
• The documentation is more extensive.
• The driver interface shows the ROS2-messages, yet it is unclear what LiDAR of camera is used.
• The Autonomous Navigation Guide is a paid option.
• Couldn't find much software for the Galaxea R1, only Manipulation Simulator.

May 20, 2026

• Daniel Swoboda created a MuJoCo Wrapper around the Franka robot, called TAMPanda.
• For the Task and Motion planning, the wrapper falls back to TAMPA (2021).

March 24, 2026

• Like to bring the Mover5 back to the Braincreators tomorrow.
• Looking at June 11, 2022 if the package is complete, and the robot is still working.
• In 2022 I used ROS1 noetic, so could better try to control it with nb-ros.
• The User Guide points to CPR-Robos github.
• The ROS support page is the only one not deprecated, although also at least 6 years old.
• On nb-ros, I have several catkin*ws. The ros_melodic_ws is from Feb 16, 2023, when I experimented with zedm_capture.
• Connected the cables as shown on page 10 of the User Guide. When connecting the USB, I see the following output:
  [357325.264888] usb 3-1: new full-speed USB device number 8 using xhci_hcd
  [357325.413886] usb 3-1: New USB device found, idVendor=0c72, idProduct=000c
  [357325.413890] usb 3-1: New USB device strings: Mfr=10, Product=4, SerialNumber=0
  [357325.413892] usb 3-1: Product: PCAN-USB
  [357325.413893] usb 3-1: Manufacturer: PEAK-System Technik GmbH
  [357325.441687] CAN device driver interface
  [357325.444847] peak_usb 3-1:1.0: PEAK-System PCAN-USB adapter hwrev 84 serial FFFFFFFF (1 channel)
  [357325.445020] peak_usb 3-1:1.0 can0: attached to PCAN-USB channel 0 (device 255)
  [357325.445107] usbcore: registered new interface driver peak_usb
  
• So, this part seems to work. Unlocked the emergency button, the LED becomes blue.
• Also worked with the robot in May 10, 2023, yet have to see where source ~/bin/startup_can_interface.sh is coming from. Not in the github, so a script I made from a command in the User Guide? No, it is step 3 from the cpr_robot ros readme.pdf.
• Found the script on nb-dual. Script seems to work, only a warning on sudo modprobe can dev:
  [358761.647149] can: unknown parameter 'dev' ignored
  [358761.647231] can: controller area network core (rev 20170425 abi 9)
  [358761.647434] NET: Registered protocol family 29
  [358761.673557] peak_usb 3-1:1.0 can0: setting BTR0=0x00 BTR1=0x1c
  [358761.699240] IPv6: ADDRCONF(NETDEV_UP): can0: link is not ready
  [358761.699911] IPv6: ADDRCONF(NETDEV_CHANGE): can0: link becomes ready
  
• Saw the same warning in 2022.
• Cloned the github into ~/ros_melodic_ws/src and build it with catkin_make clean; catkin_make rebuild_cache and catkin_make install. Both cpr_robot and zedm_capture didn't gave any warning during the build.
• Was able to control joint3 (very slowly) with roslaunch cpr_robot CPRMover6.launch.
• nb-dual no longer has a setup for ROS1 Melodic or Noetic, so couldn't run the catkin_ws any more. When needed, try via RobotStack.

March 16, 2026

• Orca has a dexterious hand, both open source and configured.
• Nice project for the Technology and Design bachelor, next year. .

  Previous Labbooks

  • Labbook 2025
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  • Labbook 2023
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