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:

blueberry_demo.mp4

Other info about the teleoperation system can be found here:

Requirements

in your catkin_ws/src folder, execute:

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

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

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