UR10_Teleop

A teleoperation package to control UR robot with VR controller

General Description

Git clone this project by

git clone --recursive git@github.com:elpis-lab/UR10_Teleop.git

This project contains two parts of the codes. One part is for Unity, which reads XR/VR controller input and send it out with network Socket. The other part is a python implementation of UR RTDE which receives input from network Socket, convert it to a desired target tool pose, and send it to a UR robot.

Unity Setup

In this project, the XR controller input is read from Unity XR Input. The test version is Unity 2022.3 LTS but any LTS version should work. Please visit the official website to install Unity Hub first, then install a desired Unity Editor.

After installing the Unity Hub and Unity Editor, launch the Unity Hub and press Add to add a project from disk. Select VR-Teleop folder. Launch the added project.

VR/XR controller

Theoretically, the code supports arbitrary VR/XR controller as long as they can be read from Unity.

Here we provide a simple setup process for Oculus Quest.

• Install and connect your Quest with this tutorial
• In Meta Quest Link software -> Setting -> General, enable Unknown source and OpenXR Runtime.
• After connecting your Quest with either Airlink or Link, run the Unity VR-Teleop project, you should be able to see the controller being tracked properly.

Customized controller input processing

The key script related to controller input reading and sending is VRControllerSender.cs, which is attached to a game object XR Origin (XR Rig) in Unity Scene Main. You may customize it as desired.

Python Setup

Once the VR/XR controller is properly connected with the PC and Unity project is launched, Unity will wait for connection to send out the controller input. From the python side, run

python -m teleop.vr_teleop

The default settings are

• VR/XR Active button to start/stop controller tracking
• VR/XR Select button to open/close gripper
• The default mapping rate for position is (0.5, 0.5, 0.5)
• The default tracking frequency / rate is 100HZ / 0.01s
• The default smoothing factor is 0.05 (The smaller the smoother)

You may update the script vr_teleop.py as desired.