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Shivin Dass1, Wensi Ai2, Yuqian Jiang1, Samik Singh1, Jiaheng Hu2, Ruohan Zhang1, Peter Stone1,3, Ben Abbatematteo1, Roberto Martín-Martín1
1The University of Texas at Austin, 2Stanford University, 3Sony AI
TeleMoMa is a teleoperation toolkit that enables intuitive teleoperation of high-DoF mobile manipulators. We provide a common pipeline that supports several teleoperation interfaces such as vision, VR, mobile phones and more, and enables mixing-and-matching between them. While we provide code for several mobile manipulators in sim and real, the versatility of TeleMoMa allows easy plug-and-play teleoperation of any mobile manipulator in general.
Other system configurations may work, but we haven’t tested them extensively and may only be able to provide limited support.
Note: TeleMoMa can work with higher versions of python but if iGibson sim environment is required then please use python3.9.
git clone https://github.com/UT-Austin-RobIn/telemoma.git
cd telemoma
conda create --name telemoma python==3.9
conda activate telemoma
pip install -e .
We provide a demo script to test different teleoperation modes in the iGibson sim environment. iGibson can be installed by running,
(telemoma) > pip install igibson
In case of installation or runtime issues with iGibson, please checkout their exhaustive documentation and github.
To verify your installation the following code can be used to run TeleMoMa in a sandbox environment in iGibson.
(telemoma) > python telemoma/demo_igibson.py --robot tiago --teleop_config telemoma/configs/only_keyboard.py
--teleop_config defines the input modality to be used for controlling each part of the robot. Some example configurations are provided in telemoma/configs folder.
Make sure the input hardware is correctly setup by following the instructions provided in Human Interface.
Hardware specific setup instructions for devices compatible with TeleMoMa are provided here.
The details on the sim environment installations, real robot codebase and instructions on setting up TeleMoMa on your own robot are provided here.
Coming Soon...
FAQs
A modular and versatile teleoperation system for mobile manipulation
We found that telemoma demonstrated a healthy version release cadence and project activity because the last version was released less than a year ago. It has 1 open source maintainer collaborating on the project.
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