OpenVR: Teleoperation for Manipulation
Abraham George Alison Bartsch Amir Barati Farimani
Across the robotics field, quality demonstrations are an integral part of
many control pipelines. However, collecting high-quality demonstration
trajectories remains time-consuming and difficult, often resulting in the
number of demonstrations being the performance bottleneck. To address this
issue, we present a method of Virtual Reality (VR) Teleoperation that uses an
Oculus VR headset to teleoperate a Franka Emika Panda robot. Although other VR
teleoperation methods exist, our code is open source, designed for readily
available consumer hardware, easy to modify, agnostic to experimental setup,
and simple to use.