Teleoperate the Franka through Oculus Quest.
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Initialize the robot (Baer).
roslaunch teleoperation start_robot.launch rosrun teleoperation switch_controllers.py
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Start the VR interface.
rosrun teleoperation oculus_data_collection.py
- The transformation between VR and robot frame is hardcoded.
- Rotations are not considered in the current script (sending zero angular velocity)
Here are some useful links related to the project:
- VR Init: Github repo used to initialize the VR interface.