Teleoperation framework for the GARMI and PARTI systems as well as the Franka robot in general. Includes support for Model-Mediated Teleoperation (MMT) with multi-body physics simulation.
To install run
pip install garmi-parti
or if you're working with the code in a local clone of the repository
pip install -v -e .[dev]
This package installs executables for various teleoperation configurations (two-arm, single-arm, MMT, etc.). Check out the documentation for details on how to get started running the various teleoperation configurations.
The robots are controlled using panda-py, which is automatically installed from pypi as part of the requirements. However, if you use an older firmware or the FR3, you will need to manually install the correct version.