VR Controlled Robotic Arm - xArm7

uFactory xArm7, Oculus Quest2, Intel RealSense D415, Unity3D

[@haozhang863]

I am very happy to see the development of seniors here. I would like to ask how to implement the calibration between VR and robot coord. I am currently using opencv's hand-eye calibration. The result after calculation is wrong.

[@santocadili7365]

Buongiorno, si può controllare il Dobot E6 con meta quest3 ?

[@ianchuang365]

Hi, is the code available for this project? I am curious how you implemented sending position/orientation data from headset to laptop in Unity3D. Do you create a Unity app that runs on the headset and sends pose data through USB?

[@fgalmeida2]

Very nice Show Case and project. ideal for remote assistance. i have the same Set of Camera and Oculus quest 2, How Did you Connect the D415 to quest 2 , are you using the usb C from the headset, or is all conected to a PC ?

[@korzen303]

Thanks, both Quest and D415 are connected to a laptop running Unity3D

[@fgalmeida2]

@@korzen303 thanks for your reply. did you use any add on or plugins ?

[@korzen303]

@@fgalmeida2 nope, just the free Assets for RealSense, Oculus and xArm SDK

[@mtab2008]

Can you control robot via VR remotely , from other country?

[@mtab2008]

which hardware and software are you using?

[@AnkitKumar-dg4hs]

Hi, it's looks very interesting, how did you get it move so smoothly? Did you used moveit serving?

[@korzen303]

No MoveIt, it is directly driven by the HMD's or Touch Controller's position and orientation via xArm API.

[@AnkitKumar-dg4hs]

@@korzen303 Hi, Thank you for your replie. So you are using position data from VR and using XARM Python API to move it in cartesian plane, but how you made the latency so less.

[@AnkitKumar-dg4hs]

@@korzen303 Hi, how did you avoid situation related to joint limit or singularity?

[@yankoaleksandrov]

Hi there are you using D415 for Visual Odometry or point cloud ?

[@korzen303]

Just the point cloud for 3D visualization in VR

[@adammazurick9775]

Do you have a tutorial or any documentation on how you handled the kinematics?

[@annabella6779]

xArm SDK handles all their own kinematics