### Install pymoveit2 for ROS

Source: https://github.com/uiuckimlab/paprle/wiki/1.-Installation

This instruction guides the user to install the 'pymoveit2' package, which is utilized for initializing and terminating data collection. The package should be placed within the ROS workspace and the workspace sourced before running teleop code. It requires a ROS environment.

```bash
# Please install `pymoveit2`: https://github.com/AndrejOrsula/pymoveit2/tree/main
# Place this package in your ROS workspace, and source the workspace before running teleop code.
```

--------------------------------

### Clone PAPRLE Repository using Git

Source: https://github.com/uiuckimlab/paprle/wiki/1.-Installation

This command clones the PAPRLE project repository from GitHub. It requires Git to be installed on the system. The output is the project directory with all its contents.

```bash
git clone https://github.com/uiuckimlab/PAPRLE.git
```

--------------------------------

### Install PAPRLE Project

Source: https://github.com/uiuckimlab/paprle/wiki/1.-Installation

This command installs the PAPRLE project in editable mode. It assumes the user is within the activated virtual environment and the project's root directory. Requires pip to be installed.

```bash
pip install -e .
```

--------------------------------

### Create and Activate Conda Environment

Source: https://github.com/uiuckimlab/paprle/wiki/1.-Installation

These commands create a Conda environment named '<env_name>' with Python 3.8 (or 3.10) and then activate it. This is an alternative to venv for managing Python environments and packages. Requires Conda to be installed.

```bash
# Create a conda environment
conda create -n <env_name> python=3.8 # or python=3.10
conda activate <env_name>
```

--------------------------------

### Create and Activate Virtual Environment (venv)

Source: https://github.com/uiuckimlab/paprle/wiki/1.-Installation

These commands create a Python virtual environment named '<env_name>' specifying Python 3.8 as the interpreter and then activate it. This isolates project dependencies. Requires 'virtualenv' package.

```bash
# Create a virtual environment
virtualenv <env_name> -p python3.8
virutalenv <env_name>/bin/activate
```

--------------------------------

### Run PAPRLE Teleoperation System

Source: https://github.com/uiuckimlab/paprle/blob/main/docs/Installation.md

This command initiates the PAPRLE teleoperation system. You need to provide robot name, leader name, and environment name as arguments. Use `--help` for more options.

```bash
python run_teleop.py -f <robot_name> -l <leader_name> -e <env_name>
```

```bash
# Teleoperate PAPARAS Kitchen configuration with Sliders in Mujoco
python run_teleop.py -f papras_kitchen -l sliders -e mujoco
```

```bash
# Teleoperate Unitree G1 with keyboard in Isaacgym
python run_teleop.py -f g1 -l keyboard -e isaacgym
```

```bash
python run_teleop.py --help
```

--------------------------------

### PAPRLE Citation

Source: https://github.com/uiuckimlab/paprle/blob/main/ReadMe.md

Citation for the PAPRLE repository, providing publication details and a link to the arXiv preprint. This is useful for researchers wanting to reference the project in their work.

```bibtex
@article{kwon2025paprle,
      title={{PAPRLE (Plug-And-Play Robotic Limb Environment): A Modular Ecosystem for Robotic Limbs}},
      author={Obin Kwon and Sankalp Yamsani and Noboru Myers and Sean Taylor and Jooyoung Hong and Kyungseo Park and Alex Alspach and Joohyung Kim},
      year={2025},
      journal={arXiv preprint arXiv:2507.05555},
      url={https://arxiv.org/abs/2507.05555}
}
```

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