| # :material-robot-industrial: **JoyLo** |
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| JoyLo teleoperation system is first introduced in [BEHAVIOR Robot Suite](https://behavior-robot-suite.github.io/) as an effective teleop device for R1 robot, providing a cost-effective whole-body teleoperation interface that enables seamless control of mobile manipulators with high degrees of freedom. Originally designed for real-world robots, JoyLo has been extended to support simulation environments and is now fully compatible with OmniGibson. |
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| Additionally, in OmniGibson, we support more robots beyond the original R1, including mobile manipulators R1 (6dof arm) and R1-pro (7dof arm), as well as single arm robots like A1 (6dof) and Franka (7dof). |
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| ## Hardware Setup |
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| ### 6 DoF R1 |
| For the 6dof version, please reference this [guide](https://behavior-robot-suite.github.io/docs/sections/joylo/overview.html) from the [BEHAVIOR Robot Suite](https://behavior-robot-suite.github.io/). |
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| ### 7 DoF R1-Pro |
| Coming soon! |
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| ## Software Setup |
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| ### Prerequisites |
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| - Linux operating system |
| - NVIDIA RTX-enabled GPU |
| - External Bluetooth dongle (recommended: [[link](https://www.amazon.com/dp/B08DFBNG7F/ref=pe_386300_442618370_TE_dp_i1?th=1)]) |
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| ### Step 1: BEHAVIOR Environment Setup |
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| Refer to the [installation guide](../getting_started/installation.md) and setup the BEHAVIOR environment with the `--teleop` flag. |
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| ### Step 2: Copy Over Task Instances |
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| All the sampled tasks are represented as JSON files in the `sampled_task` directory in this repo. You can check the names of all available tasks in the `available_tasks.yaml` file. Usually, tasks are stored in our dataset directory in public releases, but since we are still in the process of iterating on them, we temporarily keep them in the `joylo` repo so that we can quickly update. OmniGibson still reads from the dataset directory, so we wrote the `populate_behavior_tasks.sh` shell script to help copy these sampled task JSON files over to the dataset directory. |
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| To populate task definitions, run: |
| ```bash |
| # Run the script to copy sampled task JSON files to the dataset directory |
| ./joylo/populate_behavior_tasks.sh |
| ``` |
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| ### Step 3: Nintendo JoyCon Configuration |
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| 1. Configure udev rules: |
| ```bash |
| sudo nano /etc/udev/rules.d/50-nintendo-switch.rules |
| ``` |
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| 3. Add the following content to the file: |
| ``` |
| # Switch Joy-con (L) (Bluetooth only) |
| KERNEL=="hidraw*", SUBSYSTEM=="hidraw", KERNELS=="0005:057E:2006.*", MODE="0666" |
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| # Switch Joy-con (R) (Bluetooth only) |
| KERNEL=="hidraw*", SUBSYSTEM=="hidraw", KERNELS=="0005:057E:2007.*", MODE="0666" |
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| # Switch Pro controller (USB and Bluetooth) |
| KERNEL=="hidraw*", SUBSYSTEM=="hidraw", ATTRS{idVendor}=="057e", ATTRS{idProduct}=="2009", MODE="0666" |
| KERNEL=="hidraw*", SUBSYSTEM=="hidraw", KERNELS=="0005:057E:2009.*", MODE="0666" |
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| # Switch Joy-con charging grip (USB only) |
| KERNEL=="hidraw*", SUBSYSTEM=="hidraw", ATTRS{idVendor}=="057e", ATTRS{idProduct}=="200e", MODE="0666" |
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| KERNEL=="js0", SUBSYSTEM=="input", MODE="0666" |
| ``` |
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| 4. Refresh udev rules: |
| ```bash |
| sudo udevadm control --reload-rules && sudo udevadm trigger |
| ``` |
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| 5. Install Bluetooth manager: |
| ```bash |
| sudo add-apt-repository universe |
| sudo apt-get install blueman |
| ``` |
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| ### Step 4: Connect JoyCons |
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| #### Method 1: Using Bluetooth Manager (Recommended) |
| 1. Ensure your external Bluetooth dongle is connected |
| 2. Open Bluetooth Manager |
| 3. Search for JoyCon devices and connect when they appear |
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| #### Method 2: Using Command Line (If Method 1 fails) |
| 1. Run the following commands: |
| ```bash |
| bluetoothctl |
| scan on |
| # Wait for Joy-Con (L) and (R) to appear with their MAC addresses |
| # For each controller: |
| pair <MAC_ADDRESS> |
| trust <MAC_ADDRESS> |
| connect <MAC_ADDRESS> |
| ``` |
| 2. Verify connection: JoyCon lights should be static (not flashing) |
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| ### Step 5: Running the System |
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| 1. Ensure JoyLo is powered on (with motors NOT connected to Dynamixel software) |
| 2. Ensure JoyCons are connected |
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| 3. In one terminal, start the recording environment with a specified task: |
| ```bash |
| python joylo/experiments/launch_nodes.py --recording_path /path/to/recording_file_name.hdf5 --task_name picking_up_trash |
| ``` |
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| 4. In another terminal, run the JoyLo node: |
| ```bash |
| python joylo/experiments/run_joylo.py --gello_model r1pro --joint_config_file joint_config_{your specific gello set name}.yaml |
| ``` |
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| ### Joycon Button Mapping |
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| ### Usage Notes |
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| - Press the home button on the right JoyCon to save an episode and reset the scene |
| - To save all episodes and exit, focus your mouse on the OmniGibson window and press Escape |
| - Recording file will be saved to the path specified in the launch_nodes.py command |
| - Fast base motion mode: Activate by pressing down on the left joystick while moving it |
| - Object visibility toggle: Press A button on the right JoyCon to toggle between hiding non-relevant objects and showing all objects |
| - JoyCon connection stability: We have noticed that sometimes the JoyCon could disconnect randomly during data collection. A team member has reported that putting the Bluetooth dongle onto USB 2.0 is more stable than USB 3.0. We will look further into this issue. |
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| ### Task Information |
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| - Available tasks are listed in `sampled_task/available_tasks.yaml` |
| - Task definitions are stored as JSON files in the `sampled_task` directory |
| - To learn about task definitions and expected goal conditions, check the corresponding `problem0.bddl` file in the BDDL repository for the task name. This file contains information about relevant objects, initial conditions, and goal conditions. |
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| ## Troubleshooting |
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| ### JoyCon connection issues |
| - If JoyCons won't connect, try the command line method (Method 2 above) |
| - Ensure you're using an external Bluetooth dongle, as built-in Bluetooth may not be compatible |
| - Verify that udev rules are properly configured if devices aren't recognized |
| - If JoyCons disconnect randomly during data collection, try connecting the Bluetooth dongle to a USB 2.0 port instead of USB 3.0 |
| - If the JoyCon is being used as a mouse, double check [this setting](https://askubuntu.com/a/891624) (or alternatively remove `50-joystick.conf` directly) |
| - If the JoyCons are connected to Ubuntu in bluetooth but are still unable to be detected from Python, try `pip uninstall hidapi`, and then `pip install hid pyglm`, and then try again |
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| ### HID issues |
| - If you see something like `ImportError: Unable to load any of the following libraries:libhidapi-hidraw.so libhidapi-hidraw.so.0 libhidapi-libusb.so libhidapi-libusb.so.0 libhidapi-iohidmanager.so libhidapi-iohidmanager.so.0 libhidapi.dylib hidapi.dll libhidapi-0.dll`, try `sudo apt install libhidapi-hidraw0`. |
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| ## Joycon Calibration |
| Connect joycons and run: |
| ``` |
| python joylo/scripts/calibrate_joycons.py |
| ``` |
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| ## JoyLo Joint Calibration |
| - JoyLo sets can be assembled in slightly different ways, resulting in different orientations of the motors and offsets between the physical motor positions and the joint positions in simulation. |
| - A script for automatically determining these joint signs and offsets is available in `scripts/calibrate_joints.py` |
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| ### Example Usage |
| ``` |
| python joylo/scripts/calibrate_joints.py --robot R1Pro --gello_name {YOUR_GELLO_NAME_HERE} |
| ``` |
| (Make sure to specify the same `gello_name` argument when using your set to run the simulation). |
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| ### Reference Positions |
| The calibration script requires each arm to be placed in two fixed reference positions, called the "zero" and "calibration" positions. These are provided below for both the R1 (6-DOF) and R1-Pro (7-DOF) JoyLo variants. |
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| | | R1 (6-DOF) | R1-Pro (7-DOF) | |
| |----------------------|----------- |----------------| |
| | Zero Position |  |  | |
| | Calibration Position |  **NOTE: Take from the front - note the forwards orientation of the notch on the wrist joint**|  | |
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