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VR Pizza Robot Data Collection Pipline

The pipline was designed to collect the pizza making data in real world using Franka Research 2 Robot. The gripper can be the orginal 2-finger gripper or the qb soft hand research 2 teleprotated by sense glove Nova.

Files

TeleoperationUnity

location: /home/xrobot/TeleoperationUnity. This folder contains the main component of the Teleoperation control codebase. The packages we use to control the robot is frankapy and franka interface by IAMLAB at CMU.

VR_Teleoperation_Pizza.py

location:/home/xrobot/TeleoperationUnity/frankapy/examples/VR_Teleoperation_Pizza.py. We intialize the arm and make teleoperation connection between VR Quest 2 and the control server.

Teleoperation.py

location:/home/xrobot/TeleoperationUnity/frankapy/examples/Teleoperation.py. The main logic behind the Teleoperation, using multiple threads to send data and recieve data between server and VR application.

Utils

  • Reset arm and gripper location: /home/xrobot/TeleoperationUnity/frankapy/scripts/reset_arm.py
  • Run a pre-designed dynamic trajectory demo location: /home/xrobot/TeleoperationUnity/frankapy/examples/run_dynamic_pose.py
  • record and replay a dynamic trajectory demo location: /home/xrobot/TeleoperationUnity/frankapy/examples/record_trajectory.py and /home/xrobot/TeleoperationUnity/frankapy/examples/run_recorded_trajectory.py

VR Teleperation VR Applications

Designed in Unity 21 for quest 2. This is an application for Pizza Robot Teleporation. It is built up on https://github.com/Abraham190137/TeleoperationUnity using the ThinkPad Windows 10. If want to rebuild the software, please connect the quest 2 and the computer, and launch the UnityHub and Enter this porject. Click Run and Build to launch the apk to the quest2. The current version of app is call Pizza_Tele_Final.apk.

qb softhand Teleporation (optional)

The work space of qb hand is locate at /home/xrobot/qb_ws. If use qb softhand, remember to modified USE_ROBOHAND in VR_Teleoperation_Pizza.py to True. and -g 0 in launch_VR_Tele.sh.

Data Collection codebase

location:/home/xrobot/moveit_ws/XRobot/Code/codebase/src/pizza_robot/sync_data_collection.py.

The script use threads to collect images from 4 camera using ROS and robot information using FrankaArm. You can set the frequency in config.json.

Utils

  • Run Auto play without tracking to iterate through the recorded pose location: /home/xrobot/moveit_ws/XRobot/Code/codebase/src/pizza_robot/auto_play.py
  • Run and upate the auto play recording pose. The recorded pose are save at /home/xrobot/moveit_ws/XRobot/Code/codebase/src/pizza_robot/save_poses.json. location: /home/xrobot/moveit_ws/XRobot/Code/codebase/src/pizza_robot/save_auto_play_poses.py

Teleportation Step

Setup Server

  • bash launch_VR_Tele.sh Launch 3 Termials for franka interface.
  • bash launch_4_cameras_only_rgb.sh Launch 2 realsense D345i and 2 Azure Kinect DK camera with no depth information. The frequency is 15 HZ.
  • bash kill_terminals.sh Kill all the terminals.

Start VR application

Run Telportation APP in the Quest 2 headset. Be ready in the Main Scene. Wait for the start up of VR_Teleoperation_Pizza.py After the udp connection is stable, press Start. Press A for resume the teleportation. Press B for get back to main scene. If anything wrong happen, remember to first press A and then press B and wait for the start up of the python script. If the gripper can not move, press the left controller and try again.

Teleportation and Save a file

  • python3 /home/xrobot/TeleoperationUnity/frankapy/examples/VR_Teleoperation_Pizza.py Start telepertation and the UDP connection for VR connection and server. If no messages, ctrl+C to quit. If no error happens, can continuely run it.
  • python3 /home/xrobot/moveit_ws/XRobot/Code/codebase/src/pizza_robot/sync_data_collection.py Run the script and start collecting data when the robot is in position. Run once for every task skills. Write the skill number as the task name. Press Enter to stop recording. Press y to save and n to delete the recoding.

Auto-collect Step

Setup Server

  • bash launch_VR_Tele.sh Launch 3 Termials for franka interface.
  • bash launch_4_cameras_only_rgb.sh Launch 2 realsense D345i and 2 Azure Kinect DK camera with no depth information. The frequenze is 15 HZ.
  • bash kill_terminals.sh Kill all the terminals.

Start and record

  • python3 /home/xrobot/moveit_ws/XRobot/Code/codebase/src/pizza_robot/save_auto_play_poses.py Iteration through all the objects and update pose. Remember not to get too close to the object and make sure the trajectory will not run into objects. You can test the trajectory by running the python3 /home/xrobot/moveit_ws/XRobot/Code/codebase/src/pizza_robot/auto_play.py
  • bash /home/xrobot/moveit_ws/XRobot/Code/codebase/src/pizza_robot/auto_run.bash Number of iteration is how many tasks you want to complete. For Mode, Enter 0 for single object task, Enter 1 for random combination of tasks.