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== Bi-Manual Remote Robotic Teleoperation ==
Vrtnis moved page K-Scale teleop to K-Scale Teleop: Correct title capitalization
A minimal implementation of a bi-manual remote robotic teleoperation system using VR hand tracking and camera streaming.
{| class="wikitable"
! Feature
! Status
|-
| VR and browser visualization
| ✔ Completed
|-
| Bi-manual hand gesture control
| ✔ Completed
|-
| Camera streaming (mono + stereo)
| ✔ Completed
|-
| Inverse kinematics
| ✔ Completed
|-
| Meta Quest Pro HMD + NVIDIA® Jetson AGX Orin™ Developer Kit
| ✔ Completed
|-
| .urdf robot model
| ✔ Completed
|-
| 3dof end effector control
| ✔ Completed
|-
| Debug 6dof end effector control
| ⬜ Pending
|-
| Resets to various default poses
| ⬜ Pending
|-
| Tested on real world robot
| ⬜ Pending
|-
| Record & playback trajectories
| ⬜ Pending
|}
=== Setup ===
<pre>
git clone https://github.com/kscalelabs/teleop.git && cd teleop
conda create -y -n teleop python=3.8 && conda activate teleop
pip install -r requirements.txt
</pre>
=== Usage ===
* Start the server on the robot computer:
<pre>python demo_hands_stereo_ik3dof.py</pre>
* Start ngrok on the robot computer:
<pre>ngrok http 8012</pre>
* Open the browser app on the HMD and go to the ngrok URL.
=== Dependencies ===
* Vuer is used for visualization
* PyBullet is used for inverse kinematics
* ngrok is used for networking
=== Citation ===
<pre>
@misc{teleop-2024,
title={Bi-Manual Remote Robotic Teleoperation},
author={Hugo Ponte},
year={2024},
url={https://github.com/kscalelabs/teleop}
}
</pre>