From 7e6354684c54121e83f89805a008d5b9d56c3bcc Mon Sep 17 00:00:00 2001 From: devadasvijayansheela Date: Tue, 12 May 2026 11:07:59 +0200 Subject: [PATCH 1/3] Update README --- README.md | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/README.md b/README.md index ae95d0f2..9fb3eaaa 100644 --- a/README.md +++ b/README.md @@ -133,10 +133,16 @@ Make sure that common build tools (i.e., `build-essential`) and a C++ compiler l * *For Python >3.12: The `ompl` python module is currently not available on PyPI. If OMPL is not used, it is safe to remove this dependency in `pyproject.toml`.* ```shell + +# clone repository +git clone https://github.com/RobotControlStack/robot-control-stack.git +cd robot-control-stack + # setup environment conda create -n rcs python=3.11 conda activate rcs conda install conda-forge::glfw + # or sudo apt install $(cat debian_deps.txt) pip install 'pip>=25.1' pip install --group build_deps From d465203de431ec4affbb199a66677c072f140686 Mon Sep 17 00:00:00 2001 From: devadasvijayansheela Date: Tue, 12 May 2026 11:10:07 +0200 Subject: [PATCH 2/3] Update teleop README --- examples/teleop/README.md | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/examples/teleop/README.md b/examples/teleop/README.md index c3876de5..c038e92e 100644 --- a/examples/teleop/README.md +++ b/examples/teleop/README.md @@ -17,7 +17,6 @@ Finally, install [SimPub](https://github.com/intuitive-robots/SimPublisher) the pip install -r requirements.txt git clone https://github.com/RobotControlStack/SimPublisher.git cd SimPublisher -git checkout af6560384f24520601798b47d900fee6fe27cf2d pip install -ve . ``` @@ -34,19 +33,20 @@ Note that dual arm is only supported for a aloha like setup where the robot face ### Running -1. make sure your computer and quest is in the same subnetwork and they can ping each other. -2. start IRIS meta quest app on your quest (it should be located in the Library under "Unkown Sources" after installation) -3. run the [`quest_align_frame.py`](quest_align_frame.py) script once. Navigate to the link printed on the top likely [http://127.0.0.1:5000](http://127.0.0.1:5000). +1. Make sure your computer and quest is in the same subnetwork and they can ping each other. +2. Check your local machine IP using `ip addr` in the terminal and note the IP address of the network interface in the same subnet as your Quest (e.g. `192.168.1.x` or `10.42.0.1`). Replace it in `teleop/franka.py`: MQ3_ADDR = "that_pc__ip" +3. Start IRIS meta quest app on your quest (it should be located in the Library under "Unkown Sources" after installation) +4. Run the [`quest_align_frame.py`](quest_align_frame.py) script once. Navigate to the link printed on the top likely [http://127.0.0.1:5000](http://127.0.0.1:5000). - click scan - your meta quest should show up - click change name and type "RCSNode" and click ok (this needs to be done only once) - restart both the app and the script - the script should now print a bunch of numbers (the controller poses) which means the connection is working -4. put on your quest (dont remove it until done with teleop, otherwise the axis might change and you need to recalibrate), you should see a white ball with coordinate axis somewhere in your room (red is x, green is y and blue is z) -5. use the right controller to change the orientation of the coordinate axis to fit your right robot (for franka: x front, y left, z up) -6. click the "teleportation scene" button on the still open website -7. cancel the script -8. start the teleoperation script [`franka.py`](quest_iris_dual_arm.py) and enjoy. +5. Put on your quest (dont remove it until done with teleop, otherwise the axis might change and you need to recalibrate), you should see a white ball with coordinate axis somewhere in your room (red is x, green is y and blue is z) +6. Use the right controller to change the orientation of the coordinate axis to fit your right robot (for franka: x front, y left, z up) +7. Click the "teleportation scene" button on the still open website +8. Cancel the script +9. Start the teleoperation script [`franka.py`](quest_iris_dual_arm.py) and enjoy. ## Teleoperation with Franka GELLO Duo From 0f149cc99e98a7c48de70a35e3ba94bc4f78b853 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Tobias=20J=C3=BClg?= Date: Tue, 12 May 2026 12:06:13 +0200 Subject: [PATCH 3/3] Apply suggestions from code review Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com> --- examples/teleop/README.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/examples/teleop/README.md b/examples/teleop/README.md index c038e92e..ed070f3a 100644 --- a/examples/teleop/README.md +++ b/examples/teleop/README.md @@ -34,19 +34,19 @@ Note that dual arm is only supported for a aloha like setup where the robot face ### Running 1. Make sure your computer and quest is in the same subnetwork and they can ping each other. -2. Check your local machine IP using `ip addr` in the terminal and note the IP address of the network interface in the same subnet as your Quest (e.g. `192.168.1.x` or `10.42.0.1`). Replace it in `teleop/franka.py`: MQ3_ADDR = "that_pc__ip" -3. Start IRIS meta quest app on your quest (it should be located in the Library under "Unkown Sources" after installation) +2. Check your local machine IP using `ip addr` in the terminal and note the IP address of the network interface in the same subnet as your Quest (e.g. `192.168.1.x` or `10.42.0.1`). Replace it in `examples/teleop/franka.py`: `MQ3_ADDR = ""` +3. Start IRIS meta quest app on your quest (it should be located in the Library under "Unknown Sources" after installation) 4. Run the [`quest_align_frame.py`](quest_align_frame.py) script once. Navigate to the link printed on the top likely [http://127.0.0.1:5000](http://127.0.0.1:5000). - click scan - your meta quest should show up - click change name and type "RCSNode" and click ok (this needs to be done only once) - restart both the app and the script - the script should now print a bunch of numbers (the controller poses) which means the connection is working -5. Put on your quest (dont remove it until done with teleop, otherwise the axis might change and you need to recalibrate), you should see a white ball with coordinate axis somewhere in your room (red is x, green is y and blue is z) +5. Put on your quest (don't remove it until done with teleop, otherwise the axis might change and you need to recalibrate), you should see a white ball with coordinate axis somewhere in your room (red is x, green is y and blue is z) 6. Use the right controller to change the orientation of the coordinate axis to fit your right robot (for franka: x front, y left, z up) 7. Click the "teleportation scene" button on the still open website 8. Cancel the script -9. Start the teleoperation script [`franka.py`](quest_iris_dual_arm.py) and enjoy. +9. Start the teleoperation script [`franka.py`](franka.py) and enjoy. ## Teleoperation with Franka GELLO Duo