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UT-Austin-RobIn / telemoma

TeleMoMa: A Modular and Versatile Teleoperation System for Mobile Manipulation
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How to view in the quest? #4

Open Bailey-24 opened 2 weeks ago

Bailey-24 commented 2 weeks ago

Hello, thank for your great work. I can control the robot in simulation using VR, and view in the my computer. But it can't view in the VR. How to solve? (I don't need to control the real robot, I just want to control the simulation robot. ) image

I just can see the menu in the VR, not the robot view.

And It's very hard to use VR to control the robot, I can't control the robot to where i want to.

Bailey-24 commented 1 week ago

image

It't that only can view in real robot?

ShivinDass commented 1 week ago

Hi @Bailey-24, the VR headset is only used for tracking and we don't render the view on the VR screen. As shown by the image you posted, the VR can be worn over the head without covering the eyes to ensure that you can see the robot or computer screen while teleoperating a real or sim robot respectively.

Regarding your question about difficulty to control the robot in simulation -- it'd be helpful to get some more info on what kinds of difficulty you're facing so I can help better. From my experience there can be two main reasons,

  1. Action gains are not properly set -> You can try playing around with the scaler values in front of the actions here and setting them to something that you're comfortable with.
  2. The VR coordinate frame is incorrectly initialized -> This can easily be reset when you start the teleop script by following the Note 1 provided here.
Bailey-24 commented 5 days ago

Thanks. I can control fetch more comfortable with VR.

But I have two more questions. I can't control well using Realsense, even though I have follow the human interfere. I want to know there is any tips, like Keep my hands straight or Bend the handle to a certain angle in the initial state.

The other question is I can't control the franaka panada's gripper in Omnigison environment, but I can control the other robots gripper. Where can I find the solution.

Thank you.