renamed packages and updated readme for release

Author: zhigenzhao

README.md

@@ -1,31 +1,23 @@
-# Teleop Demo Python
+# XRoboToolkit-Teleop-Sample-Python
 
 Pico teleoperation demo written in python for both mujoco simulation and robot hardware.
 
 ## Overview
 
 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
-
-The main dependencies are listed in the [`pyproject.toml`](pyproject.toml) file and include:
--   `numpy`
--   `meshcat`
--   [`mujoco`](https://github.com/google-deepmind/mujoco)
--   [`placo`](https://github.com/rhoban/placo) (inverse kinematics library)
--   [`pyroboticsservice`](https://github.com/XR-Robotics/RoboticsService-Python) (Python binding for xr-robot sdk)
-
 ## Installation
+1. Download and install `XRoboToolkit PC Service`
 
-1.  **Clone the repository:**
+2.  **Clone the repository:**
     ```bash
-    git clone https://github.com/XR-Robotics/teleop_demo_python.git
-    cd teleop_demo_python
+    git clone https://github.com/XR-Robotics/XRoboToolkit-Teleop-Sample-Python.git
+    cd XRoboToolkit-Teleop-Sample-Python
     ```
 
-2.  **Installation**
+3.  **Installation**
 
-    The project includes a script to help set up a suitable Conda environment and install all dependencies.
+    It is recommended to setup a Conda environment and install the project using the included script.
     ```bash
     bash setup_conda.sh --conda <optional_env_name>
     conda activate <env_name>
@@ -37,11 +29,6 @@ The main dependencies are listed in the [`pyproject.toml`](pyproject.toml) file
     bash setup.sh
     ```
 
-3. Download and install `roboticsservice`
-    ```bash
-    dpkg -i /path/to/roboticsservice_1.0.0.0_amd64.deb
-    ```
-
 ## Usage
 
 ### Running the MuJoCo Simulation Demo
@@ -51,7 +38,7 @@ To run the teleoperation demo with a UR5e robot in MuJoCo simulation:
 ```bash
 python scripts/simulation/teleop_dual_ur5e_mujoco.py
 ```
-This script initializes the [`MujocoTeleopController`](teleop_demo_python/simulation/mujoco_teleop_controller.py) with the UR5e model and starts the teleoperation loop.
+This script initializes the [`MujocoTeleopController`](xrobotoolkit_teleop/simulation/mujoco_teleop_controller.py) with the UR5e model and starts the teleoperation loop.
 
 ### Running the Placo Visualization Demo
 
@@ -60,7 +47,7 @@ To run the teleoperation demo with a UR5e robot in Placo visualization:
 ```bash
 python scripts/simulation/teleop_x7s_placo.py
 ```
-This script initializes the [`PlacoTeleopController`](teleop_demo_python/simulation/placo_teleop_controller.py) with the X7S robot and starts the teleoperation loop.
+This script initializes the [`PlacoTeleopController`](xrobotoolkit_teleop/simulation/placo_teleop_controller.py) with the X7S robot and starts the teleoperation loop.
 
 ### Running the Hardware Demo (Dual UR Arms and Dynamixel Head)
 
@@ -70,17 +57,29 @@ To run the teleoperation demo with the physical dual UR arms and Dynamixel-based
     ```bash
     python scripts/hardware/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.
+    This script initializes the [`DynamixelHeadController`](xrobotoolkit_teleop/hardware/dynamixel.py) and [`DualArmURController`](xrobotoolkit_teleop/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/hardware/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.
+    This will execute the reset procedure defined in the [`DualArmURController`](xrobotoolkit_teleop/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/hardware/teleop_dual_ur5e_hardware.py --visualize_placo
-    ```
+    ```
+
+## Dependencies
+XR Robotics dependencies:
+- [`xrobotookit_sdk`](https://github.com/XR-Robotics/XRoboToolkit-PC-Service-Pybind): Python binding for XRoboToolkit PC Service SDK, MIT License
+
+Robotics Simulation and Solver
+- [`mujoco`](https://github.com/google-deepmind/mujoco): robotics simulation, Apache 2.0 License
+- [`placo`](https://github.com/rhoban/placo): inverse kinematics, MIT License
+
+Hardware Control
+- [`dynamixel_sdk`](https://github.com/ROBOTIS-GIT/DynamixelSDK.git): Dynamixel control functions, Apache-2.0 License
+- [`ur_rtde`](https://gitlab.com/sdurobotics/ur_rtde): interface for controlling and receiving data from a UR robot, MIT License

pyproject.toml

@@ -3,7 +3,7 @@ requires = ["setuptools>=42", "wheel"]
 build-backend = "setuptools.build_meta"
 
 [project]
-name = "teleop_demo_python"
+name = "xrobotoolkit_teleop"
 version = "0.1.0"
 description = "Teleoperation demo with MuJoCo and UR5 robot"
 readme = "README.md"
@@ -16,21 +16,20 @@ dependencies = [
     "mujoco",
     "numpy",
     "meshcat",
-    "placo",
+    "placo==0.6.4",
     "ur_rtde",
     "dynamixel-sdk",
 ]
 
 [project.optional-dependencies]
 dev = [
-    "pytest>=7.0",
     "black",
     "isort",
     "flake8",
 ]
 
 [tool.setuptools]
-packages = ["teleop_demo_python"]
+packages = ["xrobotoolkit_teleop"]
 
 [tool.setuptools.package-data]
-teleop_demo_python = ["../assets/**/*"]
+xrobotoolkit_teleop = ["../assets/**/*"]

scripts/hardware/dual_arm_control.py

@@ -1,10 +1,10 @@
-from teleop_demo_python.hardware import DualArmURController
-from teleop_demo_python.utils.pico_client import PicoClient
+from xrobotoolkit_teleop.hardware import DualArmURController
+from xrobotoolkit_teleop.utils.xr_client import XrClient
 
 
 def main():
-    pico_client = PicoClient()
-    controller = DualArmURController(pico_client)
+    xr_client = XrClient()
+    controller = DualArmURController(xr_client)
     controller.run()
 
 

scripts/hardware/head_control.py

@@ -1,14 +1,14 @@
 import threading
 import time
 
-from teleop_demo_python.hardware import DynamixelHeadController
-from teleop_demo_python.utils.pico_client import PicoClient
+from xrobotoolkit_teleop.hardware import DynamixelHeadController
+from xrobotoolkit_teleop.utils.xr_client import XrClient
 
 
 def main():
-    pico_client = PicoClient()
+    xr_client = XrClient()
 
-    controller = DynamixelHeadController(pico_client)
+    controller = DynamixelHeadController(xr_client)
 
     stop_signal = threading.Event()
 

scripts/hardware/teleop_dual_ur5e_hardware.py

@@ -2,11 +2,11 @@
 import threading
 import time
 
-from teleop_demo_python.hardware import (
+from xrobotoolkit_teleop.hardware import (
     DualArmURController,
     DynamixelHeadController,
 )
-from teleop_demo_python.utils.pico_client import PicoClient
+from xrobotoolkit_teleop.utils.xr_client import XrClient
 
 
 def main():
@@ -22,9 +22,9 @@ def main():
 
     args = parser.parse_args()
 
-    pico_client = PicoClient()
-    head_controller = DynamixelHeadController(pico_client)
-    arm_controller = DualArmURController(pico_client, visualize_placo=args.visualize_placo)
+    xr_client = XrClient()
+    head_controller = DynamixelHeadController(xr_client)
+    arm_controller = DualArmURController(xr_client, visualize_placo=args.visualize_placo)
 
     if args.reset:
         print("Reset flag detected. Running arm controller reset procedure...")

scripts/simulation/teleop_dual_a1s_mujoco.py

@@ -1,9 +1,9 @@
 import os
 
-from teleop_demo_python.simulation.mujoco_teleop_controller import (
+from xrobotoolkit_teleop.simulation.mujoco_teleop_controller import (
     MujocoTeleopController,
 )
-from teleop_demo_python.utils.path_utils import ASSET_PATH
+from xrobotoolkit_teleop.utils.path_utils import ASSET_PATH
 
 
 def main():

scripts/simulation/teleop_dual_ur5e_mujoco.py

@@ -1,9 +1,9 @@
 import os
 
-from teleop_demo_python.simulation.mujoco_teleop_controller import (
+from xrobotoolkit_teleop.simulation.mujoco_teleop_controller import (
     MujocoTeleopController,
 )
-from teleop_demo_python.utils.path_utils import ASSET_PATH
+from xrobotoolkit_teleop.utils.path_utils import ASSET_PATH
 
 
 def main():

scripts/simulation/teleop_x7s_placo.py

@@ -1,9 +1,9 @@
 import os
 
-from teleop_demo_python.simulation.placo_teleop_controller import (
+from xrobotoolkit_teleop.simulation.placo_teleop_controller import (
     PlacoTeleopController,
 )
-from teleop_demo_python.utils.path_utils import ASSET_PATH
+from xrobotoolkit_teleop.utils.path_utils import ASSET_PATH
 
 
 def main():

scripts/visualization/vis_dual_ur5e_urdf.py

@@ -1,14 +1,15 @@
-import pinocchio
-import placo
 import argparse
+
 import meshcat.transformations as tf
+import numpy as np
+import pinocchio
+import placo
 from placo_utils.visualization import (
-    robot_viz,
     robot_frame_viz,
+    robot_viz,
 )
-import numpy as np
 
-from teleop_demo_python.hardware.ur import (
+from xrobotoolkit_teleop.hardware.ur import (
     LEFT_INITIAL_JOINT,
     RIGHT_INITIAL_JOINT,
 )

setup.sh

@@ -15,33 +15,42 @@ if [[ "$OS_NAME" == "Linux" ]]; then
         echo "This script only supports Ubuntu 22.04 or 24.04."
         exit 1
     fi
+elif [[ "$OS_NAME" == "MINGW"* || "$OS_NAME" == "CYGWIN"* || "$OS_NAME" == "MSYS"* ]]; then
+    OS_VERSION="Windows"
+    echo "Windows detected"
 else
     echo "Unsupported operating system: $OS_NAME"
     exit 1
 fi
 
 echo "Operating system check passed: $OS_NAME $OS_VERSION"
 
-# Install the required packages
-rm -rf dependencies
-mkdir dependencies
-cd dependencies
-git clone https://github.com/XR-Robotics/RoboticsService-PC.git
-cd RoboticsService-PC/RoboticsService/PXREARobotSDK 
-bash build.sh || { echo "Failed to build PXREARobotSDK"; exit 1; }
-cd ../../..
-
-git clone https://github.com/XR-Robotics/RoboticsService-Python.git
-cd RoboticsService-Python
-cp ../RoboticsService-PC/RoboticsService/PXREARobotSDK/build/libPXREARobotSDK.so lib/ || { echo "Failed to copy libPXREARobotSDK.so"; exit 1; }
-python setup.py install || { echo "Failed to install RoboticsService-Python"; exit 1; }
-
-# cd ..
-# git clone https://github.com/zhigenzhao/placo.git
-# cd placo
-# git checkout xml_experimental || { echo "Failed to checkout xml_experimental branch"; exit 1; }
-# bash setup.sh --install || { echo "Failed to run placo setup"; exit 1; }
-
-cd ../..
-
-pip install -e . || { echo "Failed to install teleop_demo_python with pip"; exit 1; }
+    # Install the required packages
+    rm -rf dependencies
+    mkdir dependencies
+    cd dependencies
+    git clone https://github.com/XR-Robotics/XRoboToolkit-PC-Service.git
+    cd XRoboToolkit-PC-Service/RoboticsService/PXREARobotSDK 
+    bash build.sh || { echo "Failed to build PXREARobotSDK"; exit 1; }
+    cd ../../..
+
+    git clone https://github.com/XR-Robotics/XRoboToolkit-PC-Service-Pybind.git
+    cd XRoboToolkit-PC-Service-Pybind
+    if [[ "$OS_NAME" == "Linux" ]]; then
+        cp ../XRoboToolkit-PC-Service/RoboticsService/PXREARobotSDK/build/libPXREARobotSDK.so lib/ || { echo "Failed to copy libPXREARobotSDK.so"; exit 1; }
+    elif [[ "$OS_NAME" == "MINGW"* || "$OS_NAME" == "CYGWIN"* || "$OS_NAME" == "MSYS"* ]]; then
+        cp ../XRoboToolkit-PC-Service/RoboticsService/PXREARobotSDK/build/PXREARobotSDK.dll lib/ || { echo "Failed to copy PXREARobotSDK.dll"; exit 1; }
+        cp ../XRoboToolkit-PC-Service/RoboticsService/PXREARobotSDK/build/PXREARobotSDK.lib lib/ || { echo "Failed to copy PXREARobotSDK.lib"; exit 1; }
+    fi
+    python setup.py install || { echo "Failed to install xrobotoolkit_sdk"; exit 1; }
+    cd ..
+    rm -rf XRoboToolkit-PC-Service
+
+    cd ..
+
+    pip install -e . || { echo "Failed to install xrobotoolkit_teleop with pip"; exit 1; }
+
+
+    echo -e "\n"
+    echo -e "[INFO] xrobotoolkit_teleop is installed in conda environment '$ENV_NAME'.\n"
+    echo -e "\n"