Teleoperation

A person carries out human phases by driving the arm with a Meta Quest VR controller. TANDEM builds the teleop driver's environment for you.

tandem executors install teleop   # builds the teleop driver's environment and turns teleop on
tandem executors list             # teleop should say `ready`

tandem init offers to do this for you. The install fetches the workstation side of DROID and builds a small environment for it, with the ZED Python API when the ZED SDK is installed. Human phases then drive the arm through the DROID server from Robot setup. TANDEM passes the driver your NUC address and camera serials, so you don't need to edit anything in DROID.

Teleop uses a Meta Quest headset, driven with the right controller by default (tandem config set teleop.controller left switches). The workstation also needs adb (sudo apt install adb), and the headset must be in developer mode and connected by USB. A headset that has never run DROID teleop needs the oculus_reader app installed once:

curl -L -o teleop.apk https://media.githubusercontent.com/media/rail-berkeley/oculus_reader/de73f3d259b3c41c4564f70a64682e24aa3ac31c/oculus_reader/APK/teleop-debug.apk
adb install teleop.apk