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Pika 遥操作系统 ​

使用松灵机器人的Pika Sense (https://global.agilex.ai/products/pika) 进对 UFACTORY(深圳市众为创造科技有限公司) 的机械臂(https://www.ufactory.cc/xarm-collaborative-robot/)的遥操作控制。

GitHub: https://github.com/xArm-Developer/ufactory_teleop

Watch the video

系统要求 ​

操作系统 ​

  • 支持: Ubuntu 22.04/Ubuntu 24.04
  • 不支持: Windows/Mac OS

Python 版本 ​

  • Python 3.8/3.9/3.10

硬件要求 ​

  • UFACTORY xArm 机械臂(xArm 5/6/7, Lite 6或850)
  • Pika Sense

安装 ​

1. 下载项目 ​

bash
git clone https://github.com/xArm-Developer/ufactory_teleop
cd ufactory_teleop/pika_teleop

2. 创建虚拟环境与安装依赖 ​

创建虚拟环境(推荐)

bash
python3.9 -m venv py39

激活虚拟环境

bash
source py39/bin/activate

安装依赖

bash
pip install -r requirements.txt
pip install pysurvive
pip install pika

使用说明 ​

基本用法 ​

bash
python uf_robot_pika_teleop.py <robot_ip> [robot_mode] [gripper_type]

参数说明 ​

必需参数 ​

  • robot_ip: 机械臂的 IP 地址，例如 192.168.1.200

可选参数 ​

robot_mode (默认: 7)

  • 1: Servo 伺服运动模式
  • 7: 笛卡尔在线轨迹规划模式 (推荐)

gripper_type (默认: 0)

  • 0: 无夹爪
  • 1: xArm Gripper
  • 2: xArm Gripper G2
  • 3: BIO Gripper G2

使用方法 ​

1. 设置USB权限 ​

需要设置USB的读写权限，下面指令可以自动设置，运行完指令后请插拔一次USB。

bash
sudo cp 81-vive.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && sudo udevadm trigger

2. 跟踪设备校准 ​

首次使用Pika Sense 或者基站位置变动需要校准。

  • 方法一：使用srvive-cliu.py 进行校准 [推荐]
  1. 先运行官方示例：
bash
git clone https://github.com/collabora/libsurvive.git
cd libsurvive/bindings/python/examples
python example.py

返回示例:

bash
Info: Loaded drivers: GlobalSceneSolver, HTCVive
Info: Adding tracked object WM0 from HTC
Info: Device WM0 has watchman FW version 1592875850 and FPGA version 538/7/2; named '                       watchman'. Hardware id 0x84020109 Board rev: 3 (len 56)
Info: Detected LH gen 2 system.
Info: LightcapMode (WM0) 1 -> 2 (ff)
Info: Adding lighthouse ch 1 (idx: 0, cnt: 1)
Info: OOTX not set for LH in channel 1; attaching ootx decoder using device WM0
Info: Adding lighthouse ch 0 (idx: 1, cnt: 2)
Info: OOTX not set for LH in channel 0; attaching ootx decoder using device WM0
Info: (0) Preamble found
Info: (1) Preamble found
Info: Got OOTX packet 0 bdeb5b80
Info: Got OOTX packet 1 36df43d7
Info: MPFIT success 1093702.051384/52.2148055877/0.0001598 (21 measurements, 1, MP_OK_CHI, 5 iters, up err 0.0002584, trace 0.0000177)
Info: Global solve with 1 scenes for 1 with error of 1093702.051384/52.2148055877 (acc err 0.0003)
Info: Using LH 1 (bdeb5b80) as reference lighthouse
LH1: T: 1761879738.310068 P:  0.000000, 0.583524, 0.721219 R: -0.445283,-0.223126,-0.379739,-0.779574
WM0: T: 1761879738.470426 P: -0.012316,-0.005824,-0.008128 R:  0.165526, 0.956895, 0.235385, 0.039320
WM0: T: 1761879738.474582 P: -0.012323,-0.005919,-0.008163 R:  0.166495, 0.956762, 0.235292, 0.039036
  1. 运行srvive-cliu.py
bash
python survive-cli.py

返回示例:

Info: Loaded drivers: GlobalSceneSolver, HTCVive
Info: Adding tracked object WM0 from HTC
Info: Device WM0 has watchman FW version 1592875850 and FPGA version 538/7/2; named '                       watchman'. Hardware id 0x84020109 Board rev: 3 (len 56)
Info: Detected LH gen 2 system.
Info: LightcapMode (WM0) 1 -> 2 (ff)
Info: OOTX not set for LH in channel 1; attaching ootx decoder using device WM0
Info: OOTX not set for LH in channel 0; attaching ootx decoder using device WM0
Info: MPFIT success 7032214.017596/263.9077546656/0.0001747 (53 measurements, 1, MP_OK_CHI, 167 iters, up err 0.0026960, trace 0.0001336)
Info: Global solve with 1 scenes for 0 with error of 7032214.017596/263.9077546656 (acc err 0.0025)
Info: Global solve with 1 scenes for 1 with error of 7032214.017596/263.9077546656 (acc err 0.0034)
Info: Using LH 0 (36df43d7) as reference lighthouse
  • 方法二：使用松灵机器人提供的ROS包的指令校准(适用于ROS1/2开发者)

参考文档 https://agilexsupport.yuque.com/staff-hso6mo/peoot3/axi8hh9h9t2sh2su

3. 运行遥操作示例 : 使用笛卡尔在线规划模式，使用机械爪G2 ​

bash
python uf_robot_pika_teleop.py 192.168.1.100 7 2
  • 开始遥操作: 快速张开/闭合Pika Sense的夹子2次，注意启动时Pika Sense的姿态和方向将作为机械臂初始姿态和方向。
  • 结束遥操作: 快速张开/闭合Pika Sense的夹子2次