renamed files and updated readme

Author: zhigenzhao

README.md

@@ -1,20 +1,10 @@
-# Teleop Demo MuJoCo
+# Teleop Demo Python
 
-Teleoperation demo with MuJoCo and UR5 robot.
+Pico teleoperation demo written in python for both mujoco simulation and robot hardware.
 
 ## Overview
 
-This project provides a framework for controlling robots in MuJoCo simulation through XR (VR/AR) input devices. It allows users to manipulate robot arms using natural hand movements captured through XR controllers.
-
-The current implementation focuses on a UR5e robot arm, providing real-time control through position-based teleoperation.
-
-## Features
-
--   Real-time teleoperation of robot arms in MuJoCo physics simulation.
--   Intuitive control using XR controllers.
--   Coordinate frame transformations between XR and robot spaces.
--   Support for Universal Robots UR5e (expandable to other robots).
--   Inverse kinematics solving using Placo.
+This project provides a framework for controlling robots in robot hardware and MuJoCo simulation through XR (VR/AR) input devices. It allows users to manipulate robot arms using natural hand movements captured through XR controllers.
 
 ## Dependencies
 
@@ -54,11 +44,34 @@ The main dependencies are listed in the [`pyproject.toml`](pyproject.toml) file
 
 ## Usage
 
-### Running the Demo
+### Running the MuJoCo Simulation Demo
 
-To run the teleoperation demo with a UR5e robot:
+To run the teleoperation demo with a UR5e robot in MuJoCo simulation:
 
 ```bash
-python scripts/ur5e_dual_arm_demo.py
+python scripts/teleop_dual_ur5e_mujoco.py
 ```
-This script initializes the [`MujocoTeleopController`](teleop_demo_mujoco/mujoco_teleop_controller.py) with the UR5e model and starts the teleoperation loop.
+This script initializes the [`MujocoTeleopController`](teleop_demo_python/mujoco_teleop_controller.py) with the UR5e model and starts the teleoperation loop.
+
+### Running the Hardware Demo (Dual UR Arms and Dynamixel Head)
+
+To run the teleoperation demo with the physical dual UR arms and Dynamixel-based head:
+
+1.  **Normal Operation:**
+    ```bash
+    python scripts/teleop_dual_ur5e_hardware.py
+    ```
+    This script initializes the [`DynamixelHeadController`](teleop_demo_python/hardware/dynamixel.py) and [`DualArmURController`](teleop_demo_python/hardware/ur.py) and starts the teleoperation loops for both head tracking and arm control.
+
+2.  **Resetting Arm Positions:**
+    If you need to reset the UR arms to their initial/home positions and initialize the robotiq grippers, you can run the script with the `--reset` flag:
+    ```bash
+    python scripts/teleop_dual_ur5e_hardware.py --reset
+    ```
+    This will execute the reset procedure defined in the [`DualArmURController`](teleop_demo_python/hardware/ur.py) and then exit.
+
+3.  **Visualizing IK results:**
+    To visualize the inverse kinematics solution with placo during teleoperation, run the script with the `--visualize_placo` flag.
+    ```bash
+    python scripts/teleop_dual_ur5e_hardware.py --visualize_placo
+    ```

pyproject.toml

@@ -7,7 +7,7 @@ name = "teleop_demo_python"
 version = "0.1.0"
 description = "Teleoperation demo with MuJoCo and UR5 robot"
 readme = "README.md"
-requires-python = ">=3.7"
+requires-python = ">=3.10"
 license = {text = "MIT"}
 authors = [
     {name = "Zhigen", email = "[email protected]"}
@@ -34,10 +34,3 @@ packages = ["teleop_demo_python"]
 
 [tool.setuptools.package-data]
 teleop_demo_python = ["../assets/**/*"]
-
-[tool.black]
-line-length = 88
-
-[tool.isort]
-profile = "black"
-line_length = 88

scripts/arm_control.py scripts/dual_arm_control.pyscripts/arm_control.py renamed to scripts/dual_arm_control.py

@@ -16,11 +16,15 @@ def main():
         action="store_true",
         help="Run the reset procedure for the dual arm controller.",
     )
+    parser.add_argument(
+        "--visualize_placo", action="store_true", help="Visualize Placo in the arm controller."
+    )
+
     args = parser.parse_args()
 
     pico_client = PicoClient()
     head_controller = DynamixelHeadController(pico_client)
-    arm_controller = DualArmURController(pico_client, visualize_placo=False)
+    arm_controller = DualArmURController(pico_client, visualize_placo=args.visualize_placo)
 
     if args.reset:
         print("Reset flag detected. Running arm controller reset procedure...")