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
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
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}
}