[update] a good vuer version 0.0.60.

teleop/open_television/_test_tv_wrapper.py

@@ -35,7 +35,7 @@ def run_test_tv_wrapper():
             teleData = tv_wrapper.get_motion_state_data()
 
             logger_mp.info("=== TeleData Snapshot ===")
-            logger_mp.info(f"[Head Rotation Matrix]:\n{teleData.head_rotation}")
+            logger_mp.info(f"[Head Rotation Matrix]:\n{teleData.head_pose}")
             logger_mp.info(f"[Left EE Pose]:\n{teleData.left_arm_pose}")
             logger_mp.info(f"[Right EE Pose]:\n{teleData.right_arm_pose}")
 

teleop/open_television/setup.py

@@ -14,7 +14,7 @@ setup(
         'aiohttp_cors==0.7.0',
         'aiortc==1.8.0',
         'av==11.0.0',
-        # 'vuer==0.0.32rc7',    # avp \ pico, hand tracking all work fine.
+        # 'vuer==0.0.32rc7',    # avp \ pico, hand tracking all work fine. but it not support controller tracking.
 
         # 'vuer==0.0.35',       # avp hand tracking works fine. pico is fine too, but the right eye occasionally goes black for a short time at start.
 
@@ -32,11 +32,17 @@ setup(
 
         # from 'vuer==0.0.46'  # avp hand tracking work fine.  
         # to
-        'vuer==0.0.56',        # In pico hand tracking mode, using a hand gesture to click the "Virtual Reality" button 
+        # 'vuer==0.0.56',        # In pico hand tracking mode, using a hand gesture to click the "Virtual Reality" button 
         #                        causes the screen to stay black and stuck loading. But if the button is clicked with the controller instead, everything works fine.
         #                        In pico controller tracking mode, using controller to click the "Virtual Reality" button 
         #                        causes the screen to stay black and stuck loading. But if the button is clicked with a hand gesture instead, everything works fine.
         #                        avp \ pico all have hand marker visualization (RGB three-axis color coordinates).
+        
+        'vuer==0.0.60',        # a good version
+                               # https://github.com/unitreerobotics/avp_teleoperate/issues/53
+                               # https://github.com/vuer-ai/vuer/issues/45
+                               # https://github.com/vuer-ai/vuer/issues/65
+
     ],
     python_requires='>=3.8',
 )

teleop/open_television/television.py

@@ -206,8 +206,8 @@ class TeleVision:
                 MotionControllers(
                     stream=True,
                     key="motionControllers",
-                    showLeft=False,
-                    showRight=False,
+                    left=True,
+                    right=True,
                 ),
                 to="bgChildren",
             )

teleop/open_television/tv_wrapper.py

@@ -166,7 +166,7 @@ class TeleStateData:
 
 @dataclass
 class TeleData:
-    head_rotation: np.ndarray   # (3,3) Head orientation matrix
+    head_pose: np.ndarray       # (4,4) SE(3) pose of head matrix
     left_arm_pose: np.ndarray   # (4,4) SE(3) pose of left arm
     right_arm_pose: np.ndarray  # (4,4) SE(3) pose of right arm
     left_hand_pos: np.ndarray = None  # (25,3) 3D positions of left hand joints
@@ -259,7 +259,6 @@ class TeleVisionWrapper:
             right_IPunitree_Brobot_head_arm[0:3, 3] = right_IPunitree_Brobot_world_arm[0:3, 3] - Brobot_world_head[0:3, 3]
 
             # =====coordinate origin offset=====
-            Brobot_world_head_rot = Brobot_world_head[:3, :3]
             # The origin of the coordinate for IK Solve is near the WAIST joint motor. You can use teleop/robot_control/robot_arm_ik.py Unit_Test to visualize it.
             # The origin of the coordinate of IPunitree_Brobot_head_arm is HEAD. 
             # So it is necessary to translate the origin of IPunitree_Brobot_head_arm from HEAD to WAIST.
@@ -340,7 +339,7 @@ class TeleVisionWrapper:
                 hand_state = None
 
             return TeleData(
-                head_rotation=Brobot_world_head_rot,
+                head_pose=Brobot_world_head,
                 left_arm_pose=left_IPunitree_Brobot_waist_arm,
                 right_arm_pose=right_IPunitree_Brobot_waist_arm,
                 left_hand_pos=left_IPunitree_Brobot_arm_hand_pos,
@@ -368,7 +367,6 @@ class TeleVisionWrapper:
             right_IPunitree_Brobot_head_arm[0:3, 3] = right_IPunitree_Brobot_head_arm[0:3, 3] - Brobot_world_head[0:3, 3]
 
             # =====coordinate origin offset=====
-            Brobot_world_head_rot = Brobot_world_head[:3, :3]
             # The origin of the coordinate for IK Solve is near the WAIST joint motor. You can use teleop/robot_control/robot_arm_ik.py Unit_Test to check it.
             # The origin of the coordinate of IPunitree_Brobot_head_arm is HEAD. 
             # So it is necessary to translate the origin of IPunitree_Brobot_head_arm from HEAD to WAIST.
@@ -403,7 +401,7 @@ class TeleVisionWrapper:
                 controller_state = None
 
             return TeleData(
-                head_rotation=Brobot_world_head_rot,
+                head_pose=Brobot_world_head,
                 left_arm_pose=left_IPunitree_Brobot_waist_arm,
                 right_arm_pose=right_IPunitree_Brobot_waist_arm,
                 left_trigger_value=10.0 - self.tvuer.left_controller_trigger_value * 10,