reorganized folder structure and changed package name

Author: zhigenzhao

pyproject.toml

@@ -3,7 +3,7 @@ requires = ["setuptools>=42", "wheel"]
 build-backend = "setuptools.build_meta"
 
 [project]
-name = "teleop_demo_mujoco"
+name = "teleop_demo_python"
 version = "0.1.0"
 description = "Teleoperation demo with MuJoCo and UR5 robot"
 readme = "README.md"
@@ -17,6 +17,8 @@ dependencies = [
     "numpy",
     "meshcat",
     "placo",
+    "ur_rtde",
+    "dynamixel-sdk",
 ]
 
 [project.optional-dependencies]
@@ -28,10 +30,10 @@ dev = [
 ]
 
 [tool.setuptools]
-packages = ["teleop_demo_mujoco"]
+packages = ["teleop_demo_python"]
 
 [tool.setuptools.package-data]
-teleop_demo_mujoco = ["../assets/**/*"]
+teleop_demo_python = ["../assets/**/*"]
 
 [tool.black]
 line-length = 88

scripts/ur5e_dual_arm_demo.py

@@ -1,8 +1,8 @@
 import os
-from teleop_demo_mujoco.mujoco_teleop_controller import (
+from teleop_demo_python.mujoco_teleop_controller import (
     MujocoTeleopController,
 )
-from teleop_demo_mujoco.path_utils import ASSET_PATH
+from teleop_demo_python.utils.path_utils import ASSET_PATH
 
 
 def main():

setup.sh

@@ -44,4 +44,4 @@ python setup.py install || { echo "Failed to install RoboticsService-Python"; ex
 
 cd ../..
 
-pip install -e . || { echo "Failed to install teleop_demo_mujoco with pip"; exit 1; }
+pip install -e . || { echo "Failed to install teleop_demo_python with pip"; exit 1; }

setup_conda.sh

@@ -125,10 +125,10 @@ elif [[ "$1" == "--install" ]]; then
 
     cd ..
 
-    pip install -e . || { echo "Failed to install teleop_demo_mujoco with pip"; exit 1; }
+    pip install -e . || { echo "Failed to install teleop_demo_python with pip"; exit 1; }
 
     echo -e "\n"
-    echo -e "[INFO] teleop_demo_mujoco is installed in conda environment '$ENV_NAME'.\n"
+    echo -e "[INFO] teleop_demo_python is installed in conda environment '$ENV_NAME'.\n"
     echo -e "\n"
 else
     echo "Invalid argument. Use --conda to create a conda environment or --install to install the package."

teleop_demo_mujoco/__init__.py teleop_demo_python/__init__.pyteleop_demo_mujoco/__init__.py renamed to teleop_demo_python/__init__.py

@@ -13,13 +13,13 @@
     frame_viz,
 )
 
-from teleop_demo_mujoco.geometry import (
+from teleop_demo_python.utils.geometry import (
     R_HEADSET_TO_WORLD,
     apply_delta_pose,
     quat_diff_as_angle_axis,
 )
 
-from teleop_demo_mujoco.pico_client import PicoClient
+from teleop_demo_python.utils.pico_client import PicoClient
 
 
 class MujocoTeleopController:
@@ -281,7 +281,7 @@ def _process_xr_pose(self, xr_pose, src_name):
         R_transform = np.eye(4)
         R_transform[:3, :3] = self.R_headset_world
         R_quat = tf.quaternion_from_matrix(R_transform)
-        controller_quat = tf.quaternion_multiply(R_quat, controller_quat)
+        controller_quat = tf.quaternion_multiply(tf.quaternion_multiply(R_quat, controller_quat), tf.quaternion_conjugate(R_quat))
 
         if self.init_controller_xyz[src_name] is None:
             # First time processing the pose

…_demo_mujoco/mujoco_teleop_controller.py …_demo_python/mujoco_teleop_controller.pyteleop_demo_mujoco/mujoco_teleop_controller.py renamed to teleop_demo_python/mujoco_teleop_controller.py teleop_demo_mujoco/mujoco_teleop_controller.py renamed to teleop_demo_python/mujoco_teleop_controller.py

@@ -1,4 +1,4 @@
 import os
 
 PACKAGE_PATH = os.path.dirname(os.path.abspath(__file__))
-ASSET_PATH = os.path.join(PACKAGE_PATH, "../assets")
+ASSET_PATH = os.path.join(PACKAGE_PATH, "../../assets")