docs: improve teleop and main readme instructions

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

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 `examples/teleop/franka.py`: `MQ3_ADDR = "<your_pc_ip>"`
+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
-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 (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`](franka.py) and enjoy.
 
 
 ## Teleoperation with Franka GELLO Duo