diff --git a/README.md b/README.md
index ed612c7..4adcc97 100644
--- a/README.md
+++ b/README.md
@@ -29,18 +29,37 @@
-
# 🔖 Release Note
-1. **Upgraded the Vuer library** to support more XR device modes. The project has been renamed from **`avp_teleoperate`** to **`xr_teleoperate`** to better reflect its broader scope — now supporting not only Apple Vision Pro but also Meta Quest 3 (with controllers) and PICO 4 Ultra Enterprise (with controllers).
+## 🏷️ v1.1
+
+1. Added support for a new end-effector type: **`brainco`**, which refers to the [Brain Hand](https://www.brainco-hz.com/docs/revolimb-hand/) developed by [BrainCo](https://www.brainco.cn/#/product/dexterous).
+2. Changed the **DDS domain ID** to `1` in **simulation mode** to prevent conflicts during physical deployment.
+3. Fixed an issue where the default frequency was set too high.
+
+## 🏷️ v1.0 (newvuer)
+
+1. Upgraded the [Vuer](https://github.com/vuer-ai/vuer) library to version **v0.0.60**, expanding XR device support to two modes: **hand tracking** and **controller tracking**. The project has been renamed from **`avp_teleoperate`** to **`xr_teleoperate`** to better reflect its broader capabilities.
+
+ Devices tested include: Apple Vision Pro, Meta Quest 3 (with controllers), and PICO 4 Ultra Enterprise (with controllers).
-2. **Modularized** parts of the codebase and introduced Git submodules (`git submodule`) for better structure and maintainability.
+2. Modularized parts of the codebase and integrated **Git submodules** (`git submodule`) to improve code clarity and maintainability.
-3. Added **headless**, **motion**, and **simulation** modes. The startup parameter configuration has been improved for ease of use (see Section 2.2). The **simulation** mode enables environment validation and hardware failure diagnostics.
+3. Introduced **headless**, **motion control**, and **simulation** modes. Startup parameter configuration has been streamlined for ease of use (see Section 2.2).
+ The **simulation** mode enables environment validation and hardware failure diagnostics.
-4. Changed the default hand retarget algorithm from Vector to **DexPilot**, improving the precision and intuitiveness of fingertip pinching.
+4. Changed the default hand retargeting algorithm from *Vector* to **DexPilot**, enhancing the precision and intuitiveness of fingertip pinching interactions.
-5. Various other improvements and refinements.
+5. Various other improvements and optimizations.
+
+## 🏷️ v0.5 (oldvuer)
+
+1. The repository was named **`avp_teleoperate`** in this version.
+2. Supported robot included: `G1_29`, `G1_23`, `H1_2`, and `H1`.
+3. Supported end-effectors included: `dex3`, `dex1(gripper)`, and `inspire1`.
+4. Only supported **hand tracking mode** for XR devices (using [Vuer](https://github.com/vuer-ai/vuer) version **v0.0.32RC7**).
+ **Controller tracking mode** was **not** supported.
+5. Data recording mode was available.
@@ -92,6 +111,10 @@ The currently supported devices in this repository:
Inspire dexterous hand ✅ Complete
+
+ BrainCo dexterous hand
+ ✅ Complete
+
···
···
@@ -99,6 +122,7 @@ The currently supported devices in this repository:
+
# 1. 📦 Installation
We tested our code on Ubuntu 20.04 and Ubuntu 22.04, other operating systems may be configured differently. This document primarily describes the **default mode**.
@@ -138,9 +162,11 @@ For more information, you can refer to [Official Documentation ](https://support
(tv) unitree@Host:~/unitree_sdk2_python$ pip install -e .
```
-> **Note 1**: The [unitree_dds_wrapper](https://github.com/unitreerobotics/unitree_dds_wrapper) in the original h1_2 branch was a temporary version. It has now been fully migrated to the official Python-based control and communication library: [unitree_sdk2_python](https://github.com/unitreerobotics/unitree_sdk2_python).
+> **Note 1:** For `xr_teleoperate` versions **v1.1 and above**, please ensure that the `unitree_sdk2_python` repository is checked out to a commit **equal to or newer than** [404fe44d76f705c002c97e773276f2a8fefb57e4](https://github.com/unitreerobotics/unitree_sdk2_python/commit/404fe44d76f705c002c97e773276f2a8fefb57e4).
>
-> **Note 2**: All identifiers in front of the command are meant for prompting: **Which device and directory the command should be executed on**.
+> **Note 2**: The [unitree_dds_wrapper](https://github.com/unitreerobotics/unitree_dds_wrapper) in the original h1_2 branch was a temporary version. It has now been fully migrated to the official Python-based control and communication library: [unitree_sdk2_python](https://github.com/unitreerobotics/unitree_sdk2_python).
+>
+> **Note 3**: All identifiers in front of the command are meant for prompting: **Which device and directory the command should be executed on**.
>
> In the Ubuntu system's `~/.bashrc` file, the default configuration is: `PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w\$ '`
>
@@ -183,7 +209,7 @@ This program supports XR control of a physical robot or in simulation. Choose mo
| :---------: | :-------------------------------------------: | :----------------------------------------------------------: | :-------: |
| `--xr-mode` | Choose XR input mode | `hand` (**hand tracking**)
+# 🔖 版本说明
-# 🔖 发布说明
+## 🏷️ v1.1
+
+1. 末端执行器类型新增'brainco'，这是[强脑科技第二代灵巧手](https://www.brainco-hz.com/docs/revolimb-hand/)
+2. 为避免与实机部署时发生冲突，将仿真模式下的 dds 通道的domain id修改为1
+3. 修复默认频率过高的问题
+
+## 🏷️ v1.0 (newvuer)
+
+1. 升级 [Vuer](https://github.com/vuer-ai/vuer) 库至 v0.0.60 版本，XR设备支持模式扩展为**手部跟踪**和**控制器跟踪**两种。为更准确反映功能范围，项目由 **avp_teleoperate** 更名为 **xr_teleoperate**。
+
+ 测试设备包括： Apple Vision Pro，Meta Quest 3（含手柄） 与 PICO 4 Ultra Enterprise（含手柄）。
-1. 升级 [Vuer](https://github.com/vuer-ai/vuer) 库，扩展了设备支持模式。为更准确反映功能范围，项目由 **avp_teleoperate** 更名为 **xr_teleoperate**，从最初仅支持 Apple Vision Pro，扩展至兼容 Meta Quest 3（含手柄） 与 PICO 4 Ultra Enterprise（含手柄） 等多款 XR 设备。
2. 对部分功能进行了**模块化**拆分，并通过 Git 子模块（git submodule）方式进行管理和加载，提升代码结构的清晰度与维护性。
+
3. 新增**无头**、**运控**及**仿真**模式，优化启动参数配置（详见第2.2节），提升使用便捷性。**仿真**模式的加入，方便了环境验证和硬件故障排查。
+
4. 将默认手部映射算法从 Vector 切换为 **DexPilot**，优化了指尖捏合的精度与交互体验。
+
5. 其他一些优化
+## 🏷️ v0.5 (oldvuer)
+
+1. 该版本曾经命名为 `avp_teleoperate`
+2. 支持 'G1_29', 'G1_23', 'H1_2', 'H1' 机器人类型
+3. 支持 'dex3', 'gripper', 'inspire1' 末端执行器类型
+4. 仅支持 XR 设备的手部跟踪模式（ [Vuer](https://github.com/vuer-ai/vuer) 版本为 v0.0.32RC7），不支持控制器模式
+5. 支持数据录制模式
+
# 0. 📖 介绍
@@ -87,6 +108,10 @@
因时灵巧手
✅ 完成
+
+ 强脑灵巧手
+ ✅ 完成
+
···
···
@@ -94,6 +119,7 @@
+
# 1. 📦 安装
我们在 Ubuntu 20.04 和 Ubuntu 22.04 上测试了我们的代码，其他操作系统可能需要不同的配置。本文档主要介绍常规模式。
@@ -133,9 +159,11 @@
(tv) unitree@Host:~/unitree_sdk2_python$ pip install -e .
```
-> 注意1：原 h1_2 分支中的 [unitree_dds_wrapper](https://github.com/unitreerobotics/unitree_dds_wrapper) 为临时版本，现已全面转换到上述正式的 Python 版控制通信库：[unitree_sdk2_python](https://github.com/unitreerobotics/unitree_sdk2_python)
+> 注意1：在 `xr_teleoperate >= v1.1` 版本中，`unitree_sdk2_python` 仓库的 commit **必须是等于或高于** [404fe44d76f705c002c97e773276f2a8fefb57e4](https://github.com/unitreerobotics/unitree_sdk2_python/commit/404fe44d76f705c002c97e773276f2a8fefb57e4) 版本
+
+> 注意2：原 h1_2 分支中的 [unitree_dds_wrapper](https://github.com/unitreerobotics/unitree_dds_wrapper) 为临时版本，现已全面转换到上述正式的 Python 版控制通信库：[unitree_sdk2_python](https://github.com/unitreerobotics/unitree_sdk2_python)
-> 注意2：命令前面的所有标识符是为了提示：该命令应该在哪个设备和目录下执行。
+> 注意3：命令前面的所有标识符是为了提示：该命令应该在哪个设备和目录下执行。
>
> p.s. 在 Ubuntu 系统 `~/.bashrc` 文件中，默认配置: `PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w\$ '`
>
@@ -191,7 +219,7 @@
| :---------: | :----------------------------------------------: | :------------------------------------------------------: | :------: |
| `--xr-mode` | 选择 XR 输入模式（通过什么方式控制机器人） | `hand`（**手势跟踪**）
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diff --git a/assets/brainco_hand/meshes/right_pinky_tip.STL b/assets/brainco_hand/meshes/right_pinky_tip.STL
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index 0000000..05f82c3
Binary files /dev/null and b/assets/brainco_hand/meshes/right_pinky_tip.STL differ
diff --git a/assets/brainco_hand/meshes/right_ring_distal_link.STL b/assets/brainco_hand/meshes/right_ring_distal_link.STL
new file mode 100644
index 0000000..267045f
Binary files /dev/null and b/assets/brainco_hand/meshes/right_ring_distal_link.STL differ
diff --git a/assets/brainco_hand/meshes/right_ring_proximal_link.STL b/assets/brainco_hand/meshes/right_ring_proximal_link.STL
new file mode 100644
index 0000000..e849524
Binary files /dev/null and b/assets/brainco_hand/meshes/right_ring_proximal_link.STL differ
diff --git a/assets/brainco_hand/meshes/right_ring_tip.STL b/assets/brainco_hand/meshes/right_ring_tip.STL
new file mode 100644
index 0000000..40724b6
Binary files /dev/null and b/assets/brainco_hand/meshes/right_ring_tip.STL differ
diff --git a/assets/brainco_hand/meshes/right_thumb_distal_link.STL b/assets/brainco_hand/meshes/right_thumb_distal_link.STL
new file mode 100644
index 0000000..aaae3a4
Binary files /dev/null and b/assets/brainco_hand/meshes/right_thumb_distal_link.STL differ
diff --git a/assets/brainco_hand/meshes/right_thumb_metacarpal_link.STL b/assets/brainco_hand/meshes/right_thumb_metacarpal_link.STL
new file mode 100644
index 0000000..b7c6379
Binary files /dev/null and b/assets/brainco_hand/meshes/right_thumb_metacarpal_link.STL differ
diff --git a/assets/brainco_hand/meshes/right_thumb_proximal_link.STL b/assets/brainco_hand/meshes/right_thumb_proximal_link.STL
new file mode 100644
index 0000000..a8054f6
Binary files /dev/null and b/assets/brainco_hand/meshes/right_thumb_proximal_link.STL differ
diff --git a/assets/brainco_hand/meshes/right_thumb_tip.STL b/assets/brainco_hand/meshes/right_thumb_tip.STL
new file mode 100644
index 0000000..6715b1e
Binary files /dev/null and b/assets/brainco_hand/meshes/right_thumb_tip.STL differ
diff --git a/teleop/robot_control/hand_retargeting.py b/teleop/robot_control/hand_retargeting.py
index 27f1d40..80872b9 100644
--- a/teleop/robot_control/hand_retargeting.py
+++ b/teleop/robot_control/hand_retargeting.py
@@ -10,6 +10,8 @@ class HandType(Enum):
INSPIRE_HAND_Unit_Test = "../../assets/inspire_hand/inspire_hand.yml"
UNITREE_DEX3 = "../assets/unitree_hand/unitree_dex3.yml"
UNITREE_DEX3_Unit_Test = "../../assets/unitree_hand/unitree_dex3.yml"
+ BRAINCO_HAND = "../assets/brainco_hand/brainco.yml"
+ BRAINCO_HAND_Unit_Test = "../../assets/brainco_hand/brainco.yml"
class HandRetargeting:
def __init__(self, hand_type: HandType):
@@ -21,6 +23,10 @@ class HandRetargeting:
RetargetingConfig.set_default_urdf_dir('../assets')
elif hand_type == HandType.INSPIRE_HAND_Unit_Test:
RetargetingConfig.set_default_urdf_dir('../../assets')
+ elif hand_type == HandType.BRAINCO_HAND:
+ RetargetingConfig.set_default_urdf_dir('../assets')
+ elif hand_type == HandType.BRAINCO_HAND_Unit_Test:
+ RetargetingConfig.set_default_urdf_dir('../../assets')
config_file_path = Path(hand_type.value)
@@ -52,22 +58,23 @@ class HandRetargeting:
self.left_dex_retargeting_to_hardware = [ self.left_retargeting_joint_names.index(name) for name in self.left_dex3_api_joint_names]
self.right_dex_retargeting_to_hardware = [ self.right_retargeting_joint_names.index(name) for name in self.right_dex3_api_joint_names]
- # Archive: This is the joint order of the dex-retargeting library version 0.1.1.
- # logger_mp.info([joint.get_name() for joint in self.left_retargeting.optimizer.robot.get_active_joints()])
- # ['left_hand_thumb_0_joint', 'left_hand_thumb_1_joint', 'left_hand_thumb_2_joint',
- # 'left_hand_middle_0_joint', 'left_hand_middle_1_joint',
- # 'left_hand_index_0_joint', 'left_hand_index_1_joint']
- # logger_mp.info([joint.get_name() for joint in self.right_retargeting.optimizer.robot.get_active_joints()])
- # ['right_hand_thumb_0_joint', 'right_hand_thumb_1_joint', 'right_hand_thumb_2_joint',
- # 'right_hand_middle_0_joint', 'right_hand_middle_1_joint',
- # 'right_hand_index_0_joint', 'right_hand_index_1_joint']
elif hand_type == HandType.INSPIRE_HAND or hand_type == HandType.INSPIRE_HAND_Unit_Test:
+ # "Joint Motor Sequence" of https://support.unitree.com/home/en/G1_developer/inspire_dfx_dexterous_hand
self.left_inspire_api_joint_names = [ 'L_pinky_proximal_joint', 'L_ring_proximal_joint', 'L_middle_proximal_joint',
'L_index_proximal_joint', 'L_thumb_proximal_pitch_joint', 'L_thumb_proximal_yaw_joint' ]
self.right_inspire_api_joint_names = [ 'R_pinky_proximal_joint', 'R_ring_proximal_joint', 'R_middle_proximal_joint',
'R_index_proximal_joint', 'R_thumb_proximal_pitch_joint', 'R_thumb_proximal_yaw_joint' ]
self.left_dex_retargeting_to_hardware = [ self.left_retargeting_joint_names.index(name) for name in self.left_inspire_api_joint_names]
self.right_dex_retargeting_to_hardware = [ self.right_retargeting_joint_names.index(name) for name in self.right_inspire_api_joint_names]
+
+ elif hand_type == HandType.BRAINCO_HAND or hand_type == HandType.BRAINCO_HAND_Unit_Test:
+ # "Driver Motor ID" of https://www.brainco-hz.com/docs/revolimb-hand/product/parameters.html
+ self.left_brainco_api_joint_names = [ 'left_thumb_metacarpal_joint', 'left_thumb_proximal_joint', 'left_index_proximal_joint',
+ 'left_middle_proximal_joint', 'left_ring_proximal_joint', 'left_pinky_proximal_joint' ]
+ self.right_brainco_api_joint_names = [ 'right_thumb_metacarpal_joint', 'right_thumb_proximal_joint', 'right_index_proximal_joint',
+ 'right_middle_proximal_joint', 'right_ring_proximal_joint', 'right_pinky_proximal_joint' ]
+ self.left_dex_retargeting_to_hardware = [ self.left_retargeting_joint_names.index(name) for name in self.left_brainco_api_joint_names]
+ self.right_dex_retargeting_to_hardware = [ self.right_retargeting_joint_names.index(name) for name in self.right_brainco_api_joint_names]
except FileNotFoundError:
logger_mp.warning(f"Configuration file not found: {config_file_path}")
diff --git a/teleop/robot_control/robot_arm.py b/teleop/robot_control/robot_arm.py
index bcecc0c..f8d1f8d 100644
--- a/teleop/robot_control/robot_arm.py
+++ b/teleop/robot_control/robot_arm.py
@@ -81,7 +81,11 @@ class G1_29_ArmController:
self._gradual_time = None
# initialize lowcmd publisher and lowstate subscriber
- ChannelFactoryInitialize(0)
+ if self.simulation_mode:
+ ChannelFactoryInitialize(1)
+ else:
+ ChannelFactoryInitialize(0)
+
if self.motion_mode:
self.lowcmd_publisher = ChannelPublisher(kTopicLowCommand_Motion, hg_LowCmd)
else:
@@ -97,7 +101,7 @@ class G1_29_ArmController:
self.subscribe_thread.start()
while not self.lowstate_buffer.GetData():
- time.sleep(0.01)
+ time.sleep(0.1)
logger_mp.warning("[G1_29_ArmController] Waiting to subscribe dds...")
logger_mp.info("[G1_29_ArmController] Subscribe dds ok.")
@@ -364,7 +368,10 @@ class G1_23_ArmController:
self._gradual_time = None
# initialize lowcmd publisher and lowstate subscriber
- ChannelFactoryInitialize(0)
+ if self.simulation_mode:
+ ChannelFactoryInitialize(1)
+ else:
+ ChannelFactoryInitialize(0)
self.lowcmd_publisher = ChannelPublisher(kTopicLowCommand_Debug, hg_LowCmd)
self.lowcmd_publisher.Init()
self.lowstate_subscriber = ChannelSubscriber(kTopicLowState, hg_LowState)
@@ -377,7 +384,7 @@ class G1_23_ArmController:
self.subscribe_thread.start()
while not self.lowstate_buffer.GetData():
- time.sleep(0.01)
+ time.sleep(0.1)
logger_mp.warning("[G1_23_ArmController] Waiting to subscribe dds...")
logger_mp.info("[G1_23_ArmController] Subscribe dds ok.")
@@ -629,7 +636,10 @@ class H1_2_ArmController:
self._gradual_time = None
# initialize lowcmd publisher and lowstate subscriber
- ChannelFactoryInitialize(0)
+ if self.simulation_mode:
+ ChannelFactoryInitialize(1)
+ else:
+ ChannelFactoryInitialize(0)
self.lowcmd_publisher = ChannelPublisher(kTopicLowCommand_Debug, hg_LowCmd)
self.lowcmd_publisher.Init()
self.lowstate_subscriber = ChannelSubscriber(kTopicLowState, hg_LowState)
@@ -642,7 +652,7 @@ class H1_2_ArmController:
self.subscribe_thread.start()
while not self.lowstate_buffer.GetData():
- time.sleep(0.01)
+ time.sleep(0.1)
logger_mp.warning("[H1_2_ArmController] Waiting to subscribe dds...")
logger_mp.info("[H1_2_ArmController] Subscribe dds ok.")
@@ -899,7 +909,10 @@ class H1_ArmController:
self._gradual_time = None
# initialize lowcmd publisher and lowstate subscriber
- ChannelFactoryInitialize(0)
+ if self.simulation_mode:
+ ChannelFactoryInitialize(1)
+ else:
+ ChannelFactoryInitialize(0)
self.lowcmd_publisher = ChannelPublisher(kTopicLowCommand_Debug, go_LowCmd)
self.lowcmd_publisher.Init()
self.lowstate_subscriber = ChannelSubscriber(kTopicLowState, go_LowState)
@@ -912,7 +925,7 @@ class H1_ArmController:
self.subscribe_thread.start()
while not self.lowstate_buffer.GetData():
- time.sleep(0.01)
+ time.sleep(0.1)
logger_mp.warning("[H1_ArmController] Waiting to subscribe dds...")
logger_mp.info("[H1_ArmController] Subscribe dds ok.")
diff --git a/teleop/robot_control/robot_hand_brainco.py b/teleop/robot_control/robot_hand_brainco.py
new file mode 100644
index 0000000..a37b554
--- /dev/null
+++ b/teleop/robot_control/robot_hand_brainco.py
@@ -0,0 +1,194 @@
+from unitree_sdk2py.core.channel import ChannelPublisher, ChannelSubscriber, ChannelFactoryInitialize # dds
+from unitree_sdk2py.idl.unitree_go.msg.dds_ import MotorCmds_, MotorStates_ # idl
+from unitree_sdk2py.idl.default import unitree_go_msg_dds__MotorCmd_
+
+from teleop.robot_control.hand_retargeting import HandRetargeting, HandType
+import numpy as np
+from enum import IntEnum
+import threading
+import time
+from multiprocessing import Process, Array
+
+import logging_mp
+logger_mp = logging_mp.get_logger(__name__)
+
+brainco_Num_Motors = 6
+kTopicbraincoLeftCommand = "rt/brainco/left/cmd"
+kTopicbraincoLeftState = "rt/brainco/left/state"
+kTopicbraincoRightCommand = "rt/brainco/right/cmd"
+kTopicbraincoRightState = "rt/brainco/right/state"
+
+class Brainco_Controller:
+ def __init__(self, left_hand_array, right_hand_array, dual_hand_data_lock = None, dual_hand_state_array = None,
+ dual_hand_action_array = None, fps = 100.0, Unit_Test = False, simulation_mode = False):
+ logger_mp.info("Initialize Brainco_Controller...")
+ self.fps = fps
+ self.hand_sub_ready = False
+ self.Unit_Test = Unit_Test
+ self.simulation_mode = simulation_mode
+
+ if not self.Unit_Test:
+ self.hand_retargeting = HandRetargeting(HandType.BRAINCO_HAND)
+ else:
+ self.hand_retargeting = HandRetargeting(HandType.BRAINCO_HAND_Unit_Test)
+
+ if self.simulation_mode:
+ ChannelFactoryInitialize(1)
+ else:
+ ChannelFactoryInitialize(0)
+
+ # initialize handcmd publisher and handstate subscriber
+ self.LeftHandCmb_publisher = ChannelPublisher(kTopicbraincoLeftCommand, MotorCmds_)
+ self.LeftHandCmb_publisher.Init()
+ self.RightHandCmb_publisher = ChannelPublisher(kTopicbraincoRightCommand, MotorCmds_)
+ self.RightHandCmb_publisher.Init()
+
+ self.LeftHandState_subscriber = ChannelSubscriber(kTopicbraincoLeftState, MotorStates_)
+ self.LeftHandState_subscriber.Init()
+ self.RightHandState_subscriber = ChannelSubscriber(kTopicbraincoRightState, MotorStates_)
+ self.RightHandState_subscriber.Init()
+
+ # Shared Arrays for hand states
+ self.left_hand_state_array = Array('d', brainco_Num_Motors, lock=True)
+ self.right_hand_state_array = Array('d', brainco_Num_Motors, lock=True)
+
+ # initialize subscribe thread
+ self.subscribe_state_thread = threading.Thread(target=self._subscribe_hand_state)
+ self.subscribe_state_thread.daemon = True
+ self.subscribe_state_thread.start()
+
+ while not self.hand_sub_ready:
+ time.sleep(0.1)
+ logger_mp.warning("[brainco_Controller] Waiting to subscribe dds...")
+ logger_mp.info("[brainco_Controller] Subscribe dds ok.")
+
+ hand_control_process = Process(target=self.control_process, args=(left_hand_array, right_hand_array, self.left_hand_state_array, self.right_hand_state_array,
+ dual_hand_data_lock, dual_hand_state_array, dual_hand_action_array))
+ hand_control_process.daemon = True
+ hand_control_process.start()
+
+ logger_mp.info("Initialize brainco_Controller OK!\n")
+
+ def _subscribe_hand_state(self):
+ while True:
+ left_hand_msg = self.LeftHandState_subscriber.Read()
+ right_hand_msg = self.RightHandState_subscriber.Read()
+ self.hand_sub_ready = True
+ if left_hand_msg is not None and right_hand_msg is not None:
+ # Update left hand state
+ for idx, id in enumerate(Brainco_Left_Hand_JointIndex):
+ self.left_hand_state_array[idx] = left_hand_msg.states[id].q
+ # Update right hand state
+ for idx, id in enumerate(Brainco_Right_Hand_JointIndex):
+ self.right_hand_state_array[idx] = right_hand_msg.states[id].q
+ time.sleep(0.002)
+
+ def ctrl_dual_hand(self, left_q_target, right_q_target):
+ """
+ Set current left, right hand motor state target q
+ """
+ for idx, id in enumerate(Brainco_Left_Hand_JointIndex):
+ self.left_hand_msg.cmds[id].q = left_q_target[idx]
+ for idx, id in enumerate(Brainco_Right_Hand_JointIndex):
+ self.right_hand_msg.cmds[id].q = right_q_target[idx]
+
+ self.LeftHandCmb_publisher.Write(self.left_hand_msg)
+ self.RightHandCmb_publisher.Write(self.right_hand_msg)
+ # logger_mp.debug("hand ctrl publish ok.")
+
+ def control_process(self, left_hand_array, right_hand_array, left_hand_state_array, right_hand_state_array,
+ dual_hand_data_lock = None, dual_hand_state_array = None, dual_hand_action_array = None):
+ self.running = True
+
+ left_q_target = np.full(brainco_Num_Motors, 0)
+ right_q_target = np.full(brainco_Num_Motors, 0)
+
+ # initialize brainco hand's cmd msg
+ self.left_hand_msg = MotorCmds_()
+ self.left_hand_msg.cmds = [unitree_go_msg_dds__MotorCmd_() for _ in range(len(Brainco_Left_Hand_JointIndex))]
+ self.right_hand_msg = MotorCmds_()
+ self.right_hand_msg.cmds = [unitree_go_msg_dds__MotorCmd_() for _ in range(len(Brainco_Right_Hand_JointIndex))]
+
+ for idx, id in enumerate(Brainco_Left_Hand_JointIndex):
+ self.left_hand_msg.cmds[id].q = 0.0
+ self.left_hand_msg.cmds[id].dq = 1.0
+ for idx, id in enumerate(Brainco_Right_Hand_JointIndex):
+ self.right_hand_msg.cmds[id].q = 0.0
+ self.right_hand_msg.cmds[id].dq = 1.0
+
+ try:
+ while self.running:
+ start_time = time.time()
+ # get dual hand state
+ with left_hand_array.get_lock():
+ left_hand_data = np.array(left_hand_array[:]).reshape(25, 3).copy()
+ with right_hand_array.get_lock():
+ right_hand_data = np.array(right_hand_array[:]).reshape(25, 3).copy()
+
+ # Read left and right q_state from shared arrays
+ state_data = np.concatenate((np.array(left_hand_state_array[:]), np.array(right_hand_state_array[:])))
+
+ if not np.all(right_hand_data == 0.0) and not np.all(left_hand_data[4] == np.array([-1.13, 0.3, 0.15])): # if hand data has been initialized.
+ ref_left_value = left_hand_data[self.hand_retargeting.left_indices[1,:]] - left_hand_data[self.hand_retargeting.left_indices[0,:]]
+ ref_right_value = right_hand_data[self.hand_retargeting.right_indices[1,:]] - right_hand_data[self.hand_retargeting.right_indices[0,:]]
+
+ left_q_target = self.hand_retargeting.left_retargeting.retarget(ref_left_value)[self.hand_retargeting.left_dex_retargeting_to_hardware]
+ right_q_target = self.hand_retargeting.right_retargeting.retarget(ref_right_value)[self.hand_retargeting.right_dex_retargeting_to_hardware]
+
+ # In the official document, the angles are in the range [0, 1] ==> 0.0: fully open 1.0: fully closed
+ # The q_target now is in radians, ranges:
+ # - idx 0: 0~1.52
+ # - idx 1: 0~1.05
+ # - idx 2~5: 0~1.47
+ # We normalize them using (max - value) / range
+ def normalize(val, min_val, max_val):
+ return 1.0 - np.clip((max_val - val) / (max_val - min_val), 0.0, 1.0)
+
+ for idx in range(brainco_Num_Motors):
+ if idx == 0:
+ left_q_target[idx] = normalize(left_q_target[idx], 0.0, 1.52)
+ right_q_target[idx] = normalize(right_q_target[idx], 0.0, 1.52)
+ elif idx == 1:
+ left_q_target[idx] = normalize(left_q_target[idx], 0.0, 1.05)
+ right_q_target[idx] = normalize(right_q_target[idx], 0.0, 1.05)
+ elif idx >= 2:
+ left_q_target[idx] = normalize(left_q_target[idx], 0.0, 1.47)
+ right_q_target[idx] = normalize(right_q_target[idx], 0.0, 1.47)
+
+ # get dual hand action
+ action_data = np.concatenate((left_q_target, right_q_target))
+ if dual_hand_state_array and dual_hand_action_array:
+ with dual_hand_data_lock:
+ dual_hand_state_array[:] = state_data
+ dual_hand_action_array[:] = action_data
+ # logger_mp.info(f"left_q_target:{left_q_target}")
+ self.ctrl_dual_hand(left_q_target, right_q_target)
+ current_time = time.time()
+ time_elapsed = current_time - start_time
+ sleep_time = max(0, (1 / self.fps) - time_elapsed)
+ time.sleep(sleep_time)
+ finally:
+ logger_mp.info("brainco_Controller has been closed.")
+
+# according to the official documentation, https://www.brainco-hz.com/docs/revolimb-hand/product/parameters.html
+# the motor sequence is as shown in the table below
+# ┌──────┬───────┬────────────┬────────┬────────┬────────┬────────┐
+# │ Id │ 0 │ 1 │ 2 │ 3 │ 4 │ 5 │
+# ├──────┼───────┼────────────┼────────┼────────┼────────┼────────┤
+# │Joint │ thumb │ thumb-aux | index │ middle │ ring │ pinky │
+# └──────┴───────┴────────────┴────────┴────────┴────────┴────────┘
+class Brainco_Right_Hand_JointIndex(IntEnum):
+ kRightHandThumb = 0
+ kRightHandThumbAux = 1
+ kRightHandIndex = 2
+ kRightHandMiddle = 3
+ kRightHandRing = 4
+ kRightHandPinky = 5
+
+class Brainco_Left_Hand_JointIndex(IntEnum):
+ kLeftHandThumb = 0
+ kLeftHandThumbAux = 1
+ kLeftHandIndex = 2
+ kLeftHandMiddle = 3
+ kLeftHandRing = 4
+ kLeftHandPinky = 5
\ No newline at end of file
diff --git a/teleop/robot_control/robot_hand_inspire.py b/teleop/robot_control/robot_hand_inspire.py
index bec0a63..d884a69 100644
--- a/teleop/robot_control/robot_hand_inspire.py
+++ b/teleop/robot_control/robot_hand_inspire.py
@@ -1,4 +1,3 @@
-# this file is legacy, need to fix.
from unitree_sdk2py.core.channel import ChannelPublisher, ChannelSubscriber, ChannelFactoryInitialize # dds
from unitree_sdk2py.idl.unitree_go.msg.dds_ import MotorCmds_, MotorStates_ # idl
from unitree_sdk2py.idl.default import unitree_go_msg_dds__MotorCmd_
@@ -19,14 +18,19 @@ kTopicInspireState = "rt/inspire/state"
class Inspire_Controller:
def __init__(self, left_hand_array, right_hand_array, dual_hand_data_lock = None, dual_hand_state_array = None,
- dual_hand_action_array = None, fps = 100.0, Unit_Test = False):
+ dual_hand_action_array = None, fps = 100.0, Unit_Test = False, simulation_mode = False):
logger_mp.info("Initialize Inspire_Controller...")
self.fps = fps
self.Unit_Test = Unit_Test
+ self.simulation_mode = simulation_mode
if not self.Unit_Test:
self.hand_retargeting = HandRetargeting(HandType.INSPIRE_HAND)
else:
self.hand_retargeting = HandRetargeting(HandType.INSPIRE_HAND_Unit_Test)
+
+ if self.simulation_mode:
+ ChannelFactoryInitialize(1)
+ else:
ChannelFactoryInitialize(0)
# initialize handcmd publisher and handstate subscriber
diff --git a/teleop/robot_control/robot_hand_unitree.py b/teleop/robot_control/robot_hand_unitree.py
index 3061851..347d618 100644
--- a/teleop/robot_control/robot_hand_unitree.py
+++ b/teleop/robot_control/robot_hand_unitree.py
@@ -33,7 +33,7 @@ kTopicDex3RightState = "rt/dex3/right/state"
class Dex3_1_Controller:
def __init__(self, left_hand_array_in, right_hand_array_in, dual_hand_data_lock = None, dual_hand_state_array_out = None,
- dual_hand_action_array_out = None, fps = 100.0, Unit_Test = False):
+ dual_hand_action_array_out = None, fps = 100.0, Unit_Test = False, simulation_mode = False):
"""
[note] A *_array type parameter requires using a multiprocessing Array, because it needs to be passed to the internal child process
@@ -55,10 +55,15 @@ class Dex3_1_Controller:
self.fps = fps
self.Unit_Test = Unit_Test
+ self.simulation_mode = simulation_mode
if not self.Unit_Test:
self.hand_retargeting = HandRetargeting(HandType.UNITREE_DEX3)
else:
self.hand_retargeting = HandRetargeting(HandType.UNITREE_DEX3_Unit_Test)
+
+ if self.simulation_mode:
+ ChannelFactoryInitialize(1)
+ else:
ChannelFactoryInitialize(0)
# initialize handcmd publisher and handstate subscriber
@@ -259,7 +264,9 @@ class Gripper_Controller:
else:
self.smooth_filter = None
- if self.Unit_Test:
+ if self.simulation_mode:
+ ChannelFactoryInitialize(1)
+ else:
ChannelFactoryInitialize(0)
# initialize handcmd publisher and handstate subscriber
diff --git a/teleop/teleop_hand_and_arm.py b/teleop/teleop_hand_and_arm.py
index 411ba11..4f04899 100644
--- a/teleop/teleop_hand_and_arm.py
+++ b/teleop/teleop_hand_and_arm.py
@@ -19,6 +19,7 @@ from teleop.robot_control.robot_arm import G1_29_ArmController, G1_23_ArmControl
from teleop.robot_control.robot_arm_ik import G1_29_ArmIK, G1_23_ArmIK, H1_2_ArmIK, H1_ArmIK
from teleop.robot_control.robot_hand_unitree import Dex3_1_Controller, Gripper_Controller
from teleop.robot_control.robot_hand_inspire import Inspire_Controller
+from teleop.robot_control.robot_hand_brainco import Brainco_Controller
from teleop.image_server.image_client import ImageClient
from teleop.utils.episode_writer import EpisodeWriter
from sshkeyboard import listen_keyboard, stop_listening
@@ -54,12 +55,13 @@ listen_keyboard_thread.start()
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument('--task_dir', type = str, default = './utils/data', help = 'path to save data')
- parser.add_argument('--frequency', type = float, default = 90.0, help = 'save data\'s frequency')
+ parser.add_argument('--frequency', type = float, default = 60.0, help = 'save data\'s frequency')
+ # basic control parameters
parser.add_argument('--xr-mode', type=str, choices=['hand', 'controller'], default='hand', help='Select XR device tracking source')
parser.add_argument('--arm', type=str, choices=['G1_29', 'G1_23', 'H1_2', 'H1'], default='G1_29', help='Select arm controller')
- parser.add_argument('--ee', type=str, choices=['dex3', 'gripper', 'inspire1'], help='Select end effector controller')
-
+ parser.add_argument('--ee', type=str, choices=['dex3', 'gripper', 'inspire1', 'brainco'], help='Select end effector controller')
+ # mode flags
parser.add_argument('--record', action = 'store_true', help = 'Enable data recording')
parser.add_argument('--motion', action = 'store_true', help = 'Enable motion control mode')
parser.add_argument('--headless', action='store_true', help='Enable headless mode (no display)')
@@ -168,6 +170,13 @@ if __name__ == '__main__':
dual_hand_state_array = Array('d', 12, lock = False) # [output] current left, right hand state(12) data.
dual_hand_action_array = Array('d', 12, lock = False) # [output] current left, right hand action(12) data.
hand_ctrl = Inspire_Controller(left_hand_pos_array, right_hand_pos_array, dual_hand_data_lock, dual_hand_state_array, dual_hand_action_array)
+ elif args.ee == "brainco":
+ left_hand_pos_array = Array('d', 75, lock = True) # [input]
+ right_hand_pos_array = Array('d', 75, lock = True) # [input]
+ dual_hand_data_lock = Lock()
+ dual_hand_state_array = Array('d', 12, lock = False) # [output] current left, right hand state(12) data.
+ dual_hand_action_array = Array('d', 12, lock = False) # [output] current left, right hand action(12) data.
+ hand_ctrl = Brainco_Controller(left_hand_pos_array, right_hand_pos_array, dual_hand_data_lock, dual_hand_state_array, dual_hand_action_array)
else:
pass
@@ -228,7 +237,7 @@ if __name__ == '__main__':
publish_reset_category(1, reset_pose_publisher)
# get input data
tele_data = tv_wrapper.get_motion_state_data()
- if (args.ee == 'dex3' or args.ee == 'inspire1') and args.xr_mode == 'hand':
+ if (args.ee == 'dex3' or args.ee == 'inspire1' or args.ee == 'brainco') and args.xr_mode == 'hand':
with left_hand_pos_array.get_lock():
left_hand_pos_array[:] = tele_data.left_hand_pos.flatten()
with right_hand_pos_array.get_lock():
@@ -299,7 +308,7 @@ if __name__ == '__main__':
current_body_action = [-tele_data.tele_state.left_thumbstick_value[1] * 0.3,
-tele_data.tele_state.left_thumbstick_value[0] * 0.3,
-tele_data.tele_state.right_thumbstick_value[0] * 0.3]
- elif args.ee == "inspire1" and args.xr_mode == 'hand':
+ elif (args.ee == "inspire1" or args.ee == 'brainco') and args.xr_mode == 'hand':
with dual_hand_data_lock:
left_ee_state = dual_hand_state_array[:6]
right_ee_state = dual_hand_state_array[-6:]