A collection of realtime control interfaces for the bi-manual ABB YuMi IRB14000 robot arm using Robot Web Services (RWS) and Externally Guided Motion (EGM) low-level control.
Factor-graph-based inverse-kinematics solver handled by the jaxmp library developed by Chung-Min Kim!
Available control interfaces include:
- Interactive Viser Interface (Draggable End-Effector Frames)
- Meta Quest Oculus VR Tele-operation control
- Diffusion Policy
Diffusion Policy autonomously performing a handoff trained from 70 expert demonstrations
Oculus VR Controllers Tele-operating the YuMi
Full install instructions tested on Ubuntu 22.04 ROS Noetic in a mamba-forge environment.
After a successful install, read the usage instructions.
- Add observation-action pair .hdf5 logger for online visuo-motor policy training.
- Add data playback visualizer for data logging verification
- Bind datalogger to oculus save/reject data buttons
- Debug VRPolicy action behavior while homing
- Debug frame twitching in visualization
- Implement Diffusion Policy Controller