Implementing VR Teleoperation for the newly redesign bimanual arm - #173
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RamyWahib wants to merge 5 commits into
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Implementing VR Teleoperation for the newly redesign bimanual arm#173RamyWahib wants to merge 5 commits into
RamyWahib wants to merge 5 commits into
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Adapts run_quest_bimanual_teleop.py for the new armWithStand.usd asset: dedicated armWithStand_v2_cfg.py (joint limits/gains/ fingertip geometry re-derived for this asset's different joint axes, not copied from bimanual), the VR teleop script itself with a live-tuned stereo RSD455 head camera, a single-arm keyboard teleop variant for quick bench testing, and a helper script to open the bare USD scene for visual inspection. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Restored a clean forward-facing gaze (~50deg downward, no roll, built directly from forward/up vectors rather than composing rotations) and re-positioned it after several live-tested attempts at deriving the pose analytically didn't land correctly. Also added the same stereo RSD455 preview to keyboard_teleop_armv2.py so camera framing can be checked while driving the arm by hand. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Two axis-sign flips in run_quest_armWithStand_teleop.py's Quest-to-world mapping, found via live headset testing: X was inverted (left/right felt backwards), then Y was inverted after confirming X/Z were correct (front/back was still swapped). Also reverted an experimental bent-arm rest pose after live testing showed it wasn't actually natural-looking, back to the URDF zero pose. Added two standalone test scripts to help isolate future direction/motion issues without needing the headset: task_space_test_armv2.py (drag a cube with the mouse, same fingertip IK path as the VR script) and keyboard_teleop_armv2_lightbox.py (keyboard-driven arm in the same lightbox scene/camera setup used for VR teleop). Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
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Comment/refactor cleanup on this file was out of scope for the wato_arm_v2 VR teleop work -- restored to its state before this branch.
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This PR adds VR teleop support for the new wato_arm_v2 (armWithStand) USD — previously we could only teleop the old bimanual arm, this brings the same Quest-based control to the new one.
run_quest_armv2_teleop.py / .sh – Main VR teleop entrypoint for armWithStand. Drives both arms from Quest hand tracking via IK, with motion mapped to match what you see through the headset.
armWithStand_v2_cfg.py – Shared config for the new arm: joint names, gripper positions, and fingertip geometry.
Removed a couple of old debug/dev scripts (keyboard_teleop_armv2*.py, open_arm_v2_usd.py) that are no longer needed.