Teleoperation

We use SpaceMouse to teleop the franka arm. (credit to https://github.com/columbia-ai-robotics/diffusion_policy)

1. Set Up

1. Install dependencies.

sudo apt install libspnav-dev spacenavd
sudo systemctl start spacenavd
pip install https://github.com/cheng-chi/spnav/archive/c1c938ebe3cc542db4685e0d13850ff1abfdb943.tar.gz

if you cannot download this file, you can directly git clone this code, which inlcudes this file.

2. Reboot.

sudo reboot

3. Connect spacemouse via USB.

2. start control

Method 1 directly start script (recommend)

./teleop/teleoperation.sh

Method 2 start step by step

1. start frankapy control

see more details in Frankapy

2. start spacemouse driver

cd teleoperation/franka
python teleop/spacemouse.py

Play with the device and you should be able to see realtime signal captured by the spacemouse.

3. start teleoperation

cd teleoperation/franka
python teleop/run.py

orientation control

按住右边按键，操作摇杆即为控制姿态

position control

松开右边按键，操作摇杆即为控制位置

3. record trajectory

根据这个代码，完成通过3D鼠标遥操作机械臂，并记录机械臂的运动轨迹，而后进行重复运动

cd ~/Franka/frankapy
python teleop/record_trajectory.py

默认记录10s轨迹数据，数据存储在frankapy下

更改时间：

python teleop/record_trajectory.py -t 70 -o 

-o: 是否打开夹爪

-f: 默认输出pkl文件名

4. play record trajectory

python teleop/run_recorded_trajectory.py -t franka_traj.pkl

5. 如果突然卡住使用libfranka库复原

注意这里使用时要退出python的控制程序 机器人回到home state

cd ~/Franka/libfranka/build/examples
./communication_test 192.168.1.10