README

[Mayunsheng-1]

Hello author, your work is impressive, but I have a question. Whether your work can be reproduced through open-source content. What does this mean, and can you explain that?————Note: The code is under active development, and a more organized codebase will be available in future updates.

[ian-chuang]

Hello,

All the code used in the paper is in this repository and also in this one: [av-aloha-unity](https://github.com/soltanilara/av-aloha-unity). However, I want to note that the code organization could be improved, and I’ve only tested it on the system in my lab.

I’m currently working on an extension of this project, which will be better organized and include additional features, but that will probably take a few months to finish.

In short, the code should be reproducible, but it might require some debugging to get it working. If you attempt to reproduce it and run into any issues, feel free to reach out with your questions.

[Mayunsheng-1]

Thank you very much for your reply. I have been watching your work recently and it has left me feeling very impressed. We recently bought a set of ALOHA original robotic arm and Meta Quest 3 VR headset, but according to the content provided by your README, we don't know where to start simulation operation (dual arm operation in VR and MUJOCO environments). We hope you can give us some guidance. We will continue to conduct research based on your project and hope to stay in touch.

[ian-chuang]

Hi,

Sorry for the late reply, I didn't get a notification.

I would first try setting up the VR app:
https://github.com/soltanilara/av-aloha-unity

You can try sideloading this apk on your meta quest 3:
https://github.com/Soltanilara/av-aloha-unity/blob/main/TwoStreamGuidedVision.apk

If that doesn't work, I'd try install Unity and building from source.

The next thing would be to setup a signaling server to allow WebRTC communication:
https://github.com/Soltanilara/av-aloha/tree/main?tab=readme-ov-file#webrtc-setup

After that make sure the headset and your computer running the simulation are using the same the wifi network.

You can try running

python data_collection_scripts/webrtc_headset.py

Then in the Unity app press "Load" then "Connect"

And hopefully you can receive data from the headset.

After that to run the simulation:
https://github.com/Soltanilara/av-aloha/blob/ed1d8c4cac988e16feb61e621175bcce0ed70688/data_collection_scripts/record_sim_episodes.py

Feel free to contact me at [email protected]

[Mayunsheng-1]

Thank you very much for your letter, I have a better understanding of your program based on your guidance. At the moment I still have some questions:

1. I can't find this script in this operation.

2.Is robotID something I can name as I please, and can the turn url use stun:stun1.l.google.com:19302, and can username and password be empty?

[ian-chuang]

1. can you try looking in /usr/local/zed/get_python_api.py
2. It should be something you can name as you please. On the headset app you'll see that ID after clicking the "Load" button. For the turn server information, you don't need a TURN server if you are connecting to the headset on the same local network. To not use the turn server information you can comment out these lines here and just leave the turn server information empty:
   

   av-aloha/data_collection_scripts/webrtc_headset.py

   Line 312 in ed1d8c4

   RTCIceServer(self.turn_server_url, self.turn_server_username, self.turn_server_password)

   
   

   av-aloha/data_collection_scripts/webrtc_headset.py

   Line 106 in ed1d8c4

   RTCIceServer(self.turn_server_url, self.turn_server_username, self.turn_server_password)

[Mayunsheng-1]

Thank you very much for taking the trouble to help me. Have you ever encountered this error? The solution I got on the Internet is to modify part of the code, but I think your code is perfect and does not need to be modified.

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