WATCHDOG: Modular Real-Time Digital Twins for Intelligent Fault Monitoring & Handling in Robotics Workflows
This project ties in with the Catalyst-OT2-xArm chemistry workflow orchestrator system.
WATCHDOG is still in-development! We plan to further extend and robustify the project. Here is a video demonstration of the project. Please refer to Catalyst-OT2-xArm for more information.
WATCHDOG integrates with a self-driving lab (SDL) chemistry workflow orchestrator, which uses Opentrons OT2 and UFACTORY xArm6 robots, to provide real-time safety validation and control.
WATCHDOG depends on and integrates with several open-source software packages:
- Catalyst-OT2-xArm and its associated dependencies
- ROS 2 Humble
- NVIDIA Isaac Sim 4.5.0
- FoundationPoseROS2
- bagrag (NOTE: currently in-development)