Difference between revisions of "K-Scale Teleop"

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

Latest revision as of 20:40, 22 May 2024

A minimal implementation of a bi-manual remote robotic teleoperation system using VR hand tracking and camera streaming.

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[edit]

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

Usage[edit]

  • Start the server on the robot computer:
python demo_hands_stereo_ik3dof.py
  • Start ngrok on the robot computer:
ngrok http 8012
  • Open the browser app on the HMD and go to the ngrok URL.

Dependencies[edit]

  • Vuer is used for visualization
  • PyBullet is used for inverse kinematics
  • ngrok is used for networking

Citation[edit]

@misc{teleop-2024,
  title={Bi-Manual Remote Robotic Teleoperation},
  author={Hugo Ponte},
  year={2024},
  url={https://github.com/kscalelabs/teleop}
}
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