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README.org

Viam is a middleware solution to building scalable robotics applications. Refer to Viam’s documentation for a high-level-overview.

Setup Viam

When you have a linux machine, you can turn it into a “Part” by running the viam server on it. To install viam server, follow these instructions. The viam-server is distributed as an AppImage, i.e. an executable binary.

To install viam server:

curl -o viam-server http://packages.viam.com/apps/viam-server/viam-server-latest-x86_64.AppImage
chmod 755 viam-server

Make sure you have installed the FUSE library:

sudo apt-get install -y libfuse2
sudo apt-get install -y fuse

To install Viam SDK: Make sure your Python version is 3.9+. Then,

pip install viam-sdk

Testing Viam with a Mock robot in simulation (UR5 Mujoco)

Useful documentation:

Steps I took:

  1. Create a location, called “mujoco”
  2. Add a robot, called “ur5”
  3. In the Config tab, create a component with type ‘arm’
  4. Select ‘fake’ as the model. Then click create component
  5. Install viam-server on your local computer.
  6. Click the “Copy Viam-Server Config” button on the web interface, and save the config to a json file ‘config.json’. dlopen(): error loading libfuse.so.2
  7. Run server with a command like: 
    ./viam-server -config tests/ur5/mujoco/config.json

Troubleshooting

dlopen(): error loading libfuse.so.2

I get the following error when starting the server:

$ ./viam-server tests/ur5/mujoco/config.json dlopen(): error loading libfuse.so.2

AppImages require FUSE to run. You might still be able to extract the contents of this AppImage if you run it with the –appimage-extract option. See https://github.com/AppImage/AppImageKit/wiki/FUSE for more information

Solution: Install libfuse2

sudo apt-get install -y libfuse2

However, another error occurred:

$ ./viam-server tests/ur5/mujoco/config.json fuse: failed to exec fusermount: No such file or directory

Cannot mount AppImage, please check your FUSE setup. You might still be able to extract the contents of this AppImage if you run it with the –appimage-extract option. See https://github.com/AppImage/AppImageKit/wiki/FUSE for more information open dir error: No such file or directory

Solution: install fuse

sudo apt-get install -y fuse