ACE-F: A Cross Embodiment Foldable Teleoperation System with Force Feedback

Website | arXiv

Introduction

This repo contains code from the paper "ACE-F: A Cross Embodiment Foldable System with Force Feedback for Dexterous Teleoperation"

Installation

    conda create -n acef python=3.11
    conda activate acef
    pip install -r requirements.txt

Quick Overview

Device Setup

1. Install the Dynamixel Wizard and use it to set the baudrates and ids of your dynamixel motors. We use a baudrate of 4000000 and ids 0, 1, 2 in our example.

2. Plug arm dynamixel ids into the get_dynamixel_config() method within the peripherals.py file.

3. Use the serial numbers of all peripheral devices (such as grippers) to modify the port variables in the peripherals.py file.

Teleoperation in Simulation

After device setup, you can try teleoperating a 7-DOF Franka Emika Panda robot in Robosuite.

1. Open a split terminal
2. In the left terminal, run:

       cd scripts && python sim_robosuite.py --renderer --use_gripper
   

3. Based on your gripper input device, choose one of the following examples: If using a dynamixel as the gripper input, in the right terminal run:

       cd scripts && python acef_interface.py --imu --gripper
   

   If using an arduino as the gripper input, in the right terminal run:

       cd scripts && python acef_interface.py --imu --arduino
   

   If no gripper is configured, in the right terminal run:

       cd scripts && python acef_interface.py --imu
   

4. Hold onto the end-effector while the program connects to peripherals and moves to its initial position.
5. Once your hand is oriented properly, press 'c' to calibrate the IMU and set the robot's default orientation to your current orientation.
6. If you desire force feedback, press 'f' to turn it on.
7. If you wish to turn it off, press 'g'