OpenTeach-Controllers

This repository is the collection of symlinks to the controllers/sensor controllers and controller wrappers of robots used for Open-Teach. The robots/sensors include

• Franka Emika
• Kinova Jaco
• Xela Tactile sensors
• Allegro Hand Curved

Installation

Clone the repository using

git clone --recurse-submodules https://github.com/NYU-robot-learning/OpenTeach-Controllers.git

This will recursively install all the individual controllers

Follow the instructions in allegro-hand-controllers repository to install CAN drivers.

For Allegro

Launch the controller using

roslaunch allegro_hand allegro_hand.launch

For Kinova

Launch the controller using

roslaunch kinova_arm kinova_robot.launch

For Franka

Launch the controller using

roslaunch franka_arm franka_arm.launch

For Xela

Launch the controller using

roslaunch xela_server service.launch

Citation

If you use this repo in your research, please consider citing the paper as follows:

@misc{iyer2024open,
      title={OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation}, 
      author={Aadhithya Iyer and Zhuoran Peng and Yinlong Dai and Irmak Guzey and Siddhant Haldar and Soumith Chintala and Lerrel Pinto},
      year={2024},
      eprint={2403.07870},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}