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New control mode: --control oculus - OculusInterface (raiden/control/oculus.py): ADB-based Quest Touch controller input with deadman grip, orientation zeroing (joystick), A/B buttons for start/success/failure verdict - RobotController: start/stop_oculus_teleop(), _oculus_control_loop() for 50Hz absolute-pose tracking; bimanual support (right ctrl → left arm, left ctrl → right arm) - Pre-warm JAX IK before motor init to prevent DM watchdog timeouts - _CAN_NAMES dict for flexible CAN interface name mapping - follower_home_pos parameter on RobotController (all control modes) - Update third_party/i2rt to latest: per-joint gravity compensation, grav_comp_kd, coulomb_friction from YAML configs; CAN timeout fixes Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- Bump pyzed wheel from 5.2 to 5.3 to match installed ZED SDK 5.3 - Fix stale docstring in zed.py (NEURAL → NEURAL_LIGHT) - Add scripts/oculus_calib.py: no-robot axis calibration tool for tuning rmat_reorder before a full Oculus teleop session Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Points to the official release which already contains per-joint gravity compensation YAML configs, shorter CAN receive timeout, and _drain_bus. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Two bugs in _oculus_control_loop: 1. R_rel was computed in the controller body frame (via vr_to_global_mat zeroing), causing yaw/roll coupling when the controller was tilted at zero time. Fix: store raw_pose at grip latch and compute R_delta_vr = raw_pose[:3,:3] @ raw_pose_origin[:3,:3].T directly in VR world frame. 2. VR +X (wrist-roll axis) and VR +Y (tilt/pitch axis) were swapped in the robot frame projection. Fix: apply _R_fix = [[0,1,0],[-1,0,0],[0,0,1]] to P before conjugating R_delta_vr, leaving the position path unchanged. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- OculusInterface: add start_hint property with controller-specific start instructions - recorder: use interface.start_hint (if present) instead of generic leader-arm message - recorder: fix emergency_stop handler to exit immediately when Ctrl+C is pressed between episodes (no active controller) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Replace removed ARM_YAM_XML_PATH / GRIPPER_LINEAR_4310_PATH constants with ArmType.YAM / GripperType.LINEAR_4310 enums in combine_arm_and_gripper_xml(). Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
By default the right Touch controller drives the left arm and the left controller drives the right arm. --oculus-swap-controllers reverses this so right→right and left→left. Threads the flag through cli.py → run_bimanual_teleop → build_interface → OculusInterface → start_oculus_teleop → _oculus_control_loop. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
When standing in front of the robot (no --oculus-swap-controllers), the user's left/right is mirrored relative to the robot's X axis. Forward/ backward was already correct. Negate delta_pos[0] in this case so that moving left maps to robot-left and moving right maps to robot-right. When --oculus-swap-controllers is set (standing behind the robot), the mapping is already correct so flip_lateral=False. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Concise end-to-end guide covering: i2rt and raiden installation (separate venvs), CAN interface naming, udev rules, Oculus ADB setup, per-session startup, gravity comp testing per arm, Oculus teleop with controller mapping and swap flag, camera config + calibration, and recording. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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Oculus Quest Touch controller teleoperation
Adds support for teleoperation and data recording using Oculus Quest Touch controllers as an alternative to the SpaceMouse or leader arms. The control approach is inspired by the DROID teleoperation setup (
droid/controllers/oculus_controller.py), adapted to raiden'sTeleopInterfacepattern and J-Parse IK stack.New features
raiden/control/oculus.py— newOculusInterface(TeleopInterface)raiden/robot/controller.pystart_oculus_teleop/stop_oculus_teleop/_oculus_control_loop— one thread per arm (bimanual supported)_vec_to_reorder_mathelper for VR→robot axis permutation/flipstop_teleoperation()callsstop_oculus_teleop()so the control thread stops before the arm returns homeraiden/cli.py+raiden/robot/teleop.py+raiden/recorder.py--control oculusadded to bothTeleopCommandandRecordCommand--oculus_spatial_coeff,--oculus_pos_action_gain,--oculus_rot_action_gain,--oculus_rmat_reorder--follower_home_posadded to both commands (all control modes)scripts/oculus_calib.py— axis calibration tool (no robot needed)--rmat_reorderto test different values before a full sessionGeneral fixes
raiden/robot/controller.pyfollower_home_posmade configurable onRobotController.__init__instead of a hardcoded constant — applies to all control modessetup_for_teleop_recording()before motor init to prevent DM watchdog timeout during JIT compileDependencies
third_party/i2rtupdated to public v1.1.1 — brings in per-joint gravity compensation YAML configs, shorter CAN receive timeout, and_drain_buspyzedbumped to 5.3 to match ZED SDK 5.3; ZED SVO playback switched toDEPTH_MODE.NEURAL_LIGHTUsage