albiLo17 / teleoperation

Teleoperation system for the Franka robot

Franka Teleoperation with Oculus

Teleoperate the Franka through Oculus Quest.

Running the code

1. Initialize the robot (Baer).

   roslaunch teleoperation start_robot.launch
   rosrun teleoperation switch_controllers.py
   

2. Start the VR interface.

   rosrun teleoperation oculus_data_collection.py
   
   

To be careful

1. The transformation between VR and robot frame is hardcoded.
2. Rotations are not considered in the current script (sending zero angular velocity)

Useful Links

Here are some useful links related to the project:

• VR Init: Github repo used to initialize the VR interface.