| .. _haply-teleoperation: |
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| Setting up Haply Teleoperation |
| =============================== |
|
|
| .. currentmodule:: isaaclab |
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| `Haply Devices`_ provides haptic devices that enable intuitive robot teleoperation with |
| directional force feedback. The Haply Inverse3 paired with the VerseGrip creates an |
| end-effector control system with force feedback capabilities. |
|
|
| Isaac Lab supports Haply devices for teleoperation workflows that require precise spatial |
| control with haptic feedback. This enables operators to feel contact forces during manipulation |
| tasks, improving control quality and task performance. |
|
|
| This guide explains how to set up and use Haply devices with Isaac Lab for robot teleoperation. |
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| .. _Haply Devices: https://haply.co/ |
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| Overview |
| -------- |
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| Using Haply with Isaac Lab involves the following components: |
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| * **Isaac Lab** simulates the robot environment and streams contact forces back to the operator |
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| * **Haply Inverse3** provides 3-DOF position tracking and force feedback in the operator's workspace |
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| * **Haply VerseGrip** adds orientation sensing and button inputs for gripper control |
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| * **Haply SDK** manages WebSocket communication between Isaac Lab and the Haply hardware |
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| This guide will walk you through: |
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| * :ref:`haply-system-requirements` |
| * :ref:`haply-installation` |
| * :ref:`haply-device-setup` |
| * :ref:`haply-running-demo` |
| * :ref:`haply-troubleshooting` |
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| .. _haply-system-requirements: |
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| System Requirements |
| ------------------- |
|
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| Hardware Requirements |
| ~~~~~~~~~~~~~~~~~~~~~ |
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|
| * **Isaac Lab Workstation** |
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| * Ubuntu 22.04 or Ubuntu 24.04 |
| * Hardware requirements for 200Hz physics simulation: |
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| * CPU: 8-Core Intel Core i7 or AMD Ryzen 7 (or higher) |
| * Memory: 32GB RAM (64GB recommended) |
| * GPU: RTX 3090 or higher |
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| * Network: Same local network as Haply devices for WebSocket communication |
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| * **Haply Devices** |
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| * Haply Inverse3 - Haptic device for position tracking and force feedback |
| * Haply VerseGrip - Wireless controller for orientation and button inputs |
| * Both devices must be powered on and connected to the Haply SDK |
|
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| Software Requirements |
| ~~~~~~~~~~~~~~~~~~~~~ |
|
|
| * Isaac Lab (follow the :ref:`installation guide <isaaclab-installation-root>`) |
| * Haply SDK (provided by Haply Robotics) |
| * Python 3.10+ |
| * ``websockets`` Python package (automatically installed with Isaac Lab) |
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|
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| .. _haply-installation: |
|
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| Installation |
| ------------ |
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|
| 1. Install Isaac Lab |
| ~~~~~~~~~~~~~~~~~~~~ |
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| Follow the Isaac Lab :ref:`installation guide <isaaclab-installation-root>` to set up your environment. |
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| The ``websockets`` dependency is automatically included in Isaac Lab's requirements. |
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| 2. Install Haply SDK |
| ~~~~~~~~~~~~~~~~~~~~ |
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| Download the Haply SDK from the `Haply Devices`_ website. |
| Install the SDK software and configure the devices. |
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| 3. Verify Installation |
| ~~~~~~~~~~~~~~~~~~~~~~ |
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| Test that your Haply devices are detected by the Haply Device Manager. |
| You should see both Inverse3 and VerseGrip as connected. |
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| .. _haply-device-setup: |
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| Device Setup |
| ------------ |
|
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| 1. Physical Setup |
| ~~~~~~~~~~~~~~~~~ |
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|
| * Place the Haply Inverse3 on a stable surface |
| * Ensure the VerseGrip is charged and paired |
| * Position yourself comfortably to reach the Inverse3 workspace |
| * Keep the workspace clear of obstacles |
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| 2. Start Haply SDK |
| ~~~~~~~~~~~~~~~~~~ |
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| Launch the Haply SDK according to Haply's documentation. The SDK typically: |
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| * Runs a WebSocket server on ``localhost:10001`` |
| * Streams device data at 200Hz |
| * Displays connection status for both devices |
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| 3. Test Communication |
| ~~~~~~~~~~~~~~~~~~~~~ |
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| You can test the WebSocket connection using the following Python script: |
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| .. code:: python |
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|
| import asyncio |
| import websockets |
| import json |
|
|
| async def test_haply(): |
| uri = "ws://localhost:10001" |
| async with websockets.connect(uri) as ws: |
| response = await ws.recv() |
| data = json.loads(response) |
| print("Inverse3:", data.get("inverse3", [])) |
| print("VerseGrip:", data.get("wireless_verse_grip", [])) |
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| asyncio.run(test_haply()) |
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| You should see device data streaming from both Inverse3 and VerseGrip. |
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| .. _haply-running-demo: |
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| Running the Demo |
| ---------------- |
|
|
| The Haply teleoperation demo showcases robot manipulation with force feedback using |
| a Franka Panda arm. |
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| Basic Usage |
| ~~~~~~~~~~~ |
|
|
| .. tab-set:: |
| :sync-group: os |
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| .. tab-item:: :icon:`fa-brands fa-linux` Linux |
| :sync: linux |
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| .. code:: bash |
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| # Ensure Haply SDK is running |
| ./isaaclab.sh -p scripts/demos/haply_teleoperation.py --websocket_uri ws://localhost:10001 --pos_sensitivity 1.65 |
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| .. tab-item:: :icon:`fa-brands fa-windows` Windows |
| :sync: windows |
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| .. code:: batch |
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| REM Ensure Haply SDK is running |
| isaaclab.bat -p scripts\demos\haply_teleoperation.py --websocket_uri ws://localhost:10001 --pos_sensitivity 1.65 |
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| The demo will: |
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| 1. Connect to the Haply devices via WebSocket |
| 2. Spawn a Franka Panda robot and a cube in simulation |
| 3. Map Haply position to robot end-effector position |
| 4. Stream contact forces back to the Inverse3 for haptic feedback |
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| Controls |
| ~~~~~~~~ |
|
|
| * **Move Inverse3**: Controls the robot end-effector position |
| * **VerseGrip Button A**: Open gripper |
| * **VerseGrip Button B**: Close gripper |
| * **VerseGrip Button C**: Rotate end-effector by 60° |
|
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| Advanced Options |
| ~~~~~~~~~~~~~~~~ |
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| Customize the demo with command-line arguments: |
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| .. code:: bash |
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| # Use custom WebSocket URI |
| ./isaaclab.sh -p scripts/demos/haply_teleoperation.py \ |
| --websocket_uri ws://192.168.1.100:10001 |
|
|
| # Adjust position sensitivity (default: 1.0) |
| ./isaaclab.sh -p scripts/demos/haply_teleoperation.py \ |
| --websocket_uri ws://localhost:10001 \ |
| --pos_sensitivity 2.0 |
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| Demo Features |
| ~~~~~~~~~~~~~ |
|
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| * **Workspace Mapping**: Haply workspace is mapped to robot reachable space with safety limits |
| * **Inverse Kinematics**: Inverse Kinematics (IK) computes joint positions for desired end-effector pose |
| * **Force Feedback**: Contact forces from end-effector sensors are sent to Inverse3 for haptic feedback |
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| .. _haply-troubleshooting: |
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| Troubleshooting |
| --------------- |
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|
| No Haptic Feedback |
| ~~~~~~~~~~~~~~~~~~ |
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| **Problem**: No haptic feedback felt on Inverse3 |
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| Solutions: |
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| * Verify Inverse3 is the active device in Haply SDK |
| * Check contact forces are non-zero in simulation (try grasping the cube) |
| * Ensure ``limit_force`` is not set too low (default: 2.0N) |
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| Next Steps |
| ---------- |
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| * **Customize the demo**: Modify the workspace mapping or add custom button behaviors |
| * **Implement your own controller**: Use :class:`~isaaclab.devices.HaplyDevice` in your own scripts |
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| For more information on device APIs, see :class:`~isaaclab.devices.HaplyDevice` in the API documentation. |
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|
