Robot technology has been changing and developing rapidly since the emergence of deep
learning technology. In response to this, momoi.org is focusing on the development of next
generation robots and their social implementation. As part of this, we are currently working
on the following projects.

• Application development for ROS standard robots equipped with edge GPU: TurtleBot3
  Lime is a next-generation ROS standard robot that adds an edge GPU, NVIDIA Jetson Orin
  Nano, and a 6-degree-of-freedom arm to the base of the conventional TurtleBot3. By
  examining the application development and its software structure, it will be possible to explore
  the direction of the ROS application architecture that should be in the future.
• Digital twin support for ROS robots: We will soon release a set of Docker definitions to
  realize the simulation of TurtleBot3 Lime using NVIDIA Omniverse. This will make it
  possible to control the Lime robot in the virtual space of Omniverse from outside via ROS
  communication, enabling precise simulations that can be used for generating AI learning data,
  etc. It is expected to become one of the important items in the future of robot utilization. You
  can also try out NVIDIA Isaac applications here, and we are also preparing to release
  documentation in the form of tutorials.
• Development of a virtual factory based on digital twin environment: By defining models of
  factories, machine tools, and ROS robots in USD format in Omniverse, it is possible to operate
  a virtual factory in the form of a ROS application. This not only provides a foundation for
  trying out the implementation of practical robot AI programs, but also means that users such
  as factory managers can have a concrete image how the AI robots can be utilized in their real
  factory. With the aim of releasing such a virtual factory, we are developing models based on
  surveys of actual factories. And also, as a new idea, we are considering holding a robot AI
  development competition on Omniverse by using the virtual factory developed in this project.