Mr.LfD

This is a central repository for resources and documentation for Mr.LfD.

Mr.LfD is an application for the Meta Quest 3 that works with the Franka Emika Panda. It offers features such as teleoperation and visualisation of robot status. You can view the demos here.

Before use, please follow the instructions provided in the mrlfd_ros2 and MrLfD_MQ3 repositories.

Setup Devices

Franka Emika Panda

• Franka Control Interface Documentation
  • franka_ros2
• Setup franka_ros2
• Setup Gazebo with Franka

Meta Quest 3

• Get Started with Meta Quest Development in Unity
• Meta Quest Link
• Meta Quest Developer Hub
• SideQuest

mrlfd_ros2

This is the ROS2 endpoint for the project, which enables launching of ROS2 programs to control Franka in Gazebo or the real world.

MrLfD_MQ3

This is the Unity endpoint for the project, offering features such as an XR control interface for Franka on Quest 3.

YOLO on Quest3

This project utilises the cameras of Quest 3 to identify the shapes and colours of a set of EVA blocks using YOLOv8.

[Paper]

License

This project is licensed under the Apache 2.0 License - see the LICENSE file for details.