OpenVR：远程操作操作

IF 2.4 4区计算机科学 Q2 COMPUTER SCIENCE, SOFTWARE ENGINEERING

SoftwareX Pub Date : 2025-02-01 DOI:10.1016/j.softx.2025.102054

Abraham George, Alison Bartsch, Amir Barati Farimani

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引用次数: 0

摘要

在整个机器人领域，质量演示是许多控制管道的组成部分。然而，收集高质量的演示轨迹仍然耗时且困难，常常导致演示的数量成为性能瓶颈。为了解决这个问题，我们提出了一种虚拟现实（VR）远程操作方法，该方法使用Oculus VR耳机远程操作Franka Emika Panda机器人。虽然存在其他VR远程操作方法，但我们的代码是开源的，专为随时可用的消费者硬件而设计，易于修改，与实验设置无关，并且易于使用。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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OpenVR: Teleoperation for manipulation

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.

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来源期刊

SoftwareX COMPUTER SCIENCE, SOFTWARE ENGINEERING-

CiteScore

5.50

自引率

2.90%

发文量

184

审稿时长

9 weeks

期刊介绍： SoftwareX aims to acknowledge the impact of software on today''s research practice, and on new scientific discoveries in almost all research domains. SoftwareX also aims to stress the importance of the software developers who are, in part, responsible for this impact. To this end, SoftwareX aims to support publication of research software in such a way that: The software is given a stamp of scientific relevance, and provided with a peer-reviewed recognition of scientific impact; The software developers are given the credits they deserve; The software is citable, allowing traditional metrics of scientific excellence to apply; The academic career paths of software developers are supported rather than hindered; The software is publicly available for inspection, validation, and re-use. Above all, SoftwareX aims to inform researchers about software applications, tools and libraries with a (proven) potential to impact the process of scientific discovery in various domains. The journal is multidisciplinary and accepts submissions from within and across subject domains such as those represented within the broad thematic areas below: Mathematical and Physical Sciences; Environmental Sciences; Medical and Biological Sciences; Humanities, Arts and Social Sciences. Originating from these broad thematic areas, the journal also welcomes submissions of software that works in cross cutting thematic areas, such as citizen science, cybersecurity, digital economy, energy, global resource stewardship, health and wellbeing, etcetera. SoftwareX specifically aims to accept submissions representing domain-independent software that may impact more than one research domain.