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zhigenzhaozhigenzhao
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Merge pull request #6 from XR-Robotics/dev/cleanup
Dev/cleanup
2 parents 075c81b + 9669050 commit bd46392

23 files changed

+607
-1017
lines changed

‎scripts/hardware/dual_arm_control.py‎

Lines changed: 0 additions & 12 deletions
This file was deleted.

‎scripts/hardware/head_control.py‎

Lines changed: 0 additions & 32 deletions
This file was deleted.

‎scripts/hardware/teleop_a1x_hardware.py‎

Lines changed: 10 additions & 32 deletions
Original file line numberDiff line numberDiff line change
@@ -1,39 +1,17 @@
1-
import threading
2-
3-
import rospy
4-
5-
from xrobotoolkit_teleop.hardware.galaxea_teleop_controller import GalaxeaA1XTeleopController
6-
from xrobotoolkit_teleop.utils.xr_client import XrClient
1+
from xrobotoolkit_teleop.hardware.galaxea_teleop_controller import (
2+
DEFAULT_END_EFFECTOR_CONFIG,
3+
DEFAULT_SINGLE_A1X_URDF_PATH,
4+
GalaxeaA1XTeleopController,
5+
)
76

87

98
def main():
10-
xr_client = XrClient()
11-
controller = GalaxeaA1XTeleopController(xr_client=xr_client)
12-
13-
stop_event = threading.Event()
14-
rospy.on_shutdown(lambda: stop_event.set())
15-
left_arm_thread = threading.Thread(
16-
target=controller.run_control_thread,
17-
args=(stop_event,),
18-
)
19-
20-
ik_thread = threading.Thread(
21-
target=controller.run_ik_thread,
22-
args=(stop_event,),
9+
controller = GalaxeaA1XTeleopController(
10+
robot_urdf_path=DEFAULT_SINGLE_A1X_URDF_PATH,
11+
end_effector_config=DEFAULT_END_EFFECTOR_CONFIG,
12+
scale_factor=1.5,
2313
)
24-
25-
left_arm_thread.start()
26-
ik_thread.start()
27-
28-
try:
29-
rospy.spin()
30-
except KeyboardInterrupt:
31-
print("Keyboard interrupt received, shutting down...")
32-
finally:
33-
stop_event.set()
34-
35-
left_arm_thread.join()
36-
ik_thread.join()
14+
controller.run()
3715

3816

3917
if __name__ == "__main__":

‎scripts/hardware/teleop_dual_a1x_hardware.py‎

Lines changed: 10 additions & 32 deletions
Original file line numberDiff line numberDiff line change
@@ -1,39 +1,17 @@
1-
import threading
2-
3-
import rospy
4-
5-
from xrobotoolkit_teleop.hardware.galaxea_teleop_controller import GalaxeaDualA1XTeleopController
6-
from xrobotoolkit_teleop.utils.xr_client import XrClient
1+
from xrobotoolkit_teleop.hardware.galaxea_teleop_controller import (
2+
DEFAULT_DUAL_A1X_URDF_PATH,
3+
DEFAULT_DUAL_END_EFFECTOR_CONFIG,
4+
GalaxeaA1XTeleopController,
5+
)
76

87

98
def main():
10-
xr_client = XrClient()
11-
controller = GalaxeaDualA1XTeleopController(xr_client=xr_client)
12-
13-
stop_event = threading.Event()
14-
rospy.on_shutdown(lambda: stop_event.set())
15-
left_arm_thread = threading.Thread(
16-
target=controller.run_control_thread,
17-
args=(stop_event,),
18-
)
19-
20-
ik_thread = threading.Thread(
21-
target=controller.run_ik_thread,
22-
args=(stop_event,),
9+
controller = GalaxeaA1XTeleopController(
10+
robot_urdf_path=DEFAULT_DUAL_A1X_URDF_PATH,
11+
end_effector_config=DEFAULT_DUAL_END_EFFECTOR_CONFIG,
12+
scale_factor=1.5,
2313
)
24-
25-
left_arm_thread.start()
26-
ik_thread.start()
27-
28-
try:
29-
rospy.spin()
30-
except KeyboardInterrupt:
31-
print("Keyboard interrupt received, shutting down...")
32-
finally:
33-
stop_event.set()
34-
35-
left_arm_thread.join()
36-
ik_thread.join()
14+
controller.run()
3715

3816

3917
if __name__ == "__main__":

‎scripts/hardware/teleop_dual_ur5e_hardware.py‎

Lines changed: 2 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -2,11 +2,11 @@
22
import threading
33
import time
44

5+
from xrobotoolkit_teleop.common.xr_client import XrClient
56
from xrobotoolkit_teleop.hardware import (
67
DualArmURController,
78
DynamixelHeadController,
89
)
9-
from xrobotoolkit_teleop.utils.xr_client import XrClient
1010

1111

1212
def main():
@@ -16,9 +16,7 @@ def main():
1616
action="store_true",
1717
help="Run the reset procedure for the dual arm controller.",
1818
)
19-
parser.add_argument(
20-
"--visualize_placo", action="store_true", help="Visualize Placo in the arm controller."
21-
)
19+
parser.add_argument("--visualize_placo", action="store_true", help="Visualize Placo in the arm controller.")
2220

2321
args = parser.parse_args()
2422

‎scripts/simulation/teleop_dual_a1x_mujoco.py‎

Lines changed: 20 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -17,10 +17,17 @@ def main():
1717
"control_trigger": "right_grip",
1818
"vis_target": "right_target",
1919
"gripper_config": {
20-
"joint_name": "right_gripper_finger_joint1",
20+
"type": "parallel",
2121
"gripper_trigger": "right_trigger",
22-
"open_pos": 0.05,
23-
"close_pos": 0.0,
22+
"joint_names": [
23+
"right_gripper_finger_joint1",
24+
],
25+
"open_pos": [
26+
0.05,
27+
],
28+
"close_pos": [
29+
0.0,
30+
],
2431
},
2532
},
2633
"left_hand": {
@@ -29,10 +36,17 @@ def main():
2936
"control_trigger": "left_grip",
3037
"vis_target": "left_target",
3138
"gripper_config": {
32-
"joint_name": "left_gripper_finger_joint1",
39+
"type": "parallel",
3340
"gripper_trigger": "left_trigger",
34-
"open_pos": 0.05,
35-
"close_pos": 0.0,
41+
"joint_names": [
42+
"left_gripper_finger_joint1",
43+
],
44+
"open_pos": [
45+
0.05,
46+
],
47+
"close_pos": [
48+
0.0,
49+
],
3650
},
3751
},
3852
}

‎scripts/simulation/teleop_inspire_hand_placo.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -8,9 +8,9 @@
88
robot_viz,
99
)
1010

11+
from xrobotoolkit_teleop.common.xr_client import XrClient
1112
from xrobotoolkit_teleop.utils.dex_hand_utils import DexHandTracker, pico_hand_state_to_mediapipe
1213
from xrobotoolkit_teleop.utils.path_utils import ASSET_PATH
13-
from xrobotoolkit_teleop.utils.xr_client import XrClient
1414

1515

1616
def main():

‎scripts/simulation/teleop_shadow_hand_mujoco.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -6,10 +6,10 @@
66
from dex_retargeting.constants import HandType, RetargetingType, RobotName
77
from mujoco import viewer as mj_viewer
88

9+
from xrobotoolkit_teleop.common.xr_client import XrClient
910
from xrobotoolkit_teleop.utils.dex_hand_utils import DexHandTracker, pico_hand_state_to_mediapipe
1011
from xrobotoolkit_teleop.utils.mujoco_utils import calc_mujoco_ctrl_from_qpos, calc_mujoco_qpos_from_pin_q
1112
from xrobotoolkit_teleop.utils.path_utils import ASSET_PATH
12-
from xrobotoolkit_teleop.utils.xr_client import XrClient
1313

1414

1515
def main():

‎scripts/simulation/teleop_shadow_hand_placo.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -8,9 +8,9 @@
88
robot_viz,
99
)
1010

11+
from xrobotoolkit_teleop.common.xr_client import XrClient
1112
from xrobotoolkit_teleop.utils.dex_hand_utils import DexHandTracker, pico_hand_state_to_mediapipe
1213
from xrobotoolkit_teleop.utils.path_utils import ASSET_PATH
13-
from xrobotoolkit_teleop.utils.xr_client import XrClient
1414

1515

1616
def main():

‎scripts/simulation/teleop_x7s_placo.py‎

Lines changed: 3 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -41,13 +41,11 @@ def main():
4141

4242
# additional constraints hardcoded here for now
4343
joints_task = controller.solver.add_joints_task()
44-
joints_task.set_joints({joint: 0.0 for joint in controller.robot.joint_names()})
44+
joints_task.set_joints({joint: 0.0 for joint in controller.placo_robot.joint_names()})
4545
joints_task.configure("joints_regularization", "soft", 5e-4)
4646

47-
if "joint2" in controller.robot.joint_names():
48-
controller.robot.set_joint_limits(
49-
"joint2", -0.5, 0.1
50-
) # to avoid excessive tilting of torso
47+
if "joint2" in controller.placo_robot.joint_names():
48+
controller.placo_robot.set_joint_limits("joint2", -0.5, 0.1) # to avoid excessive tilting of torso
5149
controller.solver.enable_velocity_limits(True)
5250

5351
controller.run()

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