RobotArmSimulation

A Python-based teleoperation system for a UR5e robot arm in a robosuite simulation, using HTC Vive controllers for intuitive control. The system maps Vive controller inputs to planar movement, vertical movement, and gripper actions.

Features

• Real-time teleoperation of UR5e in the Lift environment
• Planar movement controlled via Vive trackpad
• Vertical movement based on controller position
• Gripper toggle using the trigger button
• Reset origin functionality using the menu button
• Smoothed motion for more natural control
• Modular Python project for easy expansion

Folder Structure

RobotArmSimulation/
├─ src/
│  ├─ main.py
|  ├─ simulation/
|  |  ├─ __init__.py
|  |  └─ robo_env.py
│  └─ controllers/
│     ├─ __init__.py
│     └─ vive_controller.py
├─ venv/  # Python virtual environment
├─ README.md
└─ requirements.txt  # Project dependencies

Requirements

• Python 3.12 (or compatible 3.x)
• pip
• robosuite
• openvr
• numpy
• Mujoco 2.x installed and activated
• HTC Vive pro 2 and controllers
• Compatible GPU for rendering (OpenGL)

Installation

1. Clone the repository:

git clone https://github.com/KWells58/RobotArmSimulation.git cd RobotArmSimulation

2. Create a virtual environment:

python -m venv venv

3. Activate the virtual environment:

• Windows PowerShell: .\venv\Scripts\Activate.ps1
• Windows CMD: .\venv\Scripts\activate.bat
• Linux/macOS: source venv/bin/activate

4. Install dependencies:

pip install -r requirements.txt

5. Set up robosuite macros:

python venv/Lib/site-packages/robosuite/scripts/setup_macros.py

Usage

1. Ensure Vive controllers are fully charged and SteamVR is running.
2. Activate the virtual environment.
3. Run the teleoperation script:

python -m src.main

Controls

• Trackpad XY → Planar movement (X/Y)
• Controller Z → Vertical movement
• Trigger → Toggle gripper
• Menu button → Reset origin

Notes

• Wrist rotation is currently disabled to isolate planar movement
• Planar and vertical movement are smoothed for more natural control
• Debug messages can be enabled inside vive_controller.py for troubleshooting

Contributing

• Add new controller features, IK improvements, or robot environments
• Use modular structure in src/controllers for additional devices or input mappings

License