teleoperation_ur5_allegro_leap

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teleoperation_ur5_allegro_leap

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Package for the teleoperation of UR5+Allegro Robot composite

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# Teleoperation Package for UR5 + Allegro (Maria) robot
Leap based teleoperation package for the UR5 + Allegro Robot
 
This repo connects several nodes for interacting for the MARIA robot. 
For the low level control of the Allegro Hand refer to `kdl_control_tools`. Developed in our research group.
The As a solver for the robot arm, we use `relaxed_ik` from https://github.com/uwgraphics/relaxed_ik. However, because of some errors on the kinematics some edits have been made to the repository. please refer to this custom version -> https://github.com/Raziel90/relaxed_ik 
  
 
Please refer to `real_robot_interactive_teleop` as the most updated branch. 
That is the one tested on the real robot.

## Demo Video:

https://user-images.githubusercontent.com/8159414/159833096-a2a14748-be1a-4aec-83a6-37b8b14de98c.mp4

Other info about the teleoperation system can be found here:
<p align="center"> 
<a href="https://www.youtube.com/watch?feature=player_embedded&v=xiJxB5OeEs8" target="_blank">
 <img src="https://img.youtube.com/vi/xiJxB5OeEs8/0.jpg" alt="Watch the video" width="540" border="5" />
</a>
    
</p>

## Requirements

in your catkin_ws/src folder, execute:
```bash
git clone -b personal_config https://github.com/Raziel90/relaxed_ik.git
git clone https://github.com/ARQ-CRISP/allegro_hand_kdl.git
git clone https://github.com/ARQ-CRISP/kdl_control_tools.git
git clone https://github.com/ARQ-CRISP/arq_ur5.git
git clone https://github.com/ARQ-CRISP/haptic_glove_ros.git
git clone https://github.com/ARQ-CRISP/allegro_mujoco.git
git clone https://github.com/ARQ-CRISP/ur5_allegro_moveit.git
git clone https://github.com/ARQ-CRISP/ros_topic_connector.git
git clone https://github.com/gokhansolak/allegro-hand-ros.git
git clone https://github.com/ros-drivers/leap_motion.git
git clone https://github.com/ARQ-CRISP/optoforce_publisher.git
git clone https://github.com/ARQ-CRISP/arq_ur5.git
```

follow the guide in those.

## Execution 
### Simulated
```bash
roslaunch teleoperation_ur5_allegro_leap ur5_allegro_teleop_mujoco.launch # full system
roslaunch teleoperation_ur5_allegro_leap allegro_teleop_mujoco.launch # allegro teleop only
roslaunch teleoperation_ur5_allegro_leap relaxed_setup.launch # ur5 teleop
```

## Services

The GUI helps to control the teleop software. The changes are implemented as ROS Services. Those are:
```
Toggle_Tracking
Toggle_Calibration
Toggle_Control
GoTo_ByName
Get_Fingertip_Distance
Update_Finger_Measure
```
## Dependencies

```bash
sudo apt-get install ros-melodic-python-orocos-kdl
sudo apt-get install ros-melodic-kdl-conversions
sudo apt-get install ros-melodic-kdl-parser      
sudo apt install ros-melodic-moveit-commander

pip install -U python-fcl
pip install -U scikit-learn
```

teleoperation_ur5_allegro_leap

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