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Implement dual-arm teleoperation with RM75 QP controller and MuJoCo backend

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This commit is contained in:
YikaiFu-cart
2026-07-01 11:26:58 +08:00
parent fdf505eac5
commit 5678cc8e69
52 changed files with 612116 additions and 327 deletions
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85
xr_rm_bringup/launch/dual_arm_qp_sim.launch.py Normal file
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"""PICO/XR to dual-arm QP IK with a shared MuJoCo backend."""
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
from launch.substitutions import (
EnvironmentVariable,
LaunchConfiguration,
PathJoinSubstitution,
)
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
def generate_launch_description() -> LaunchDescription:
config_dir = PathJoinSubstitution(
[FindPackageShare("xr_rm_bringup"), "config"]
)
return LaunchDescription(
[
DeclareLaunchArgument("mujoco_gl", default_value="glfw"),
SetEnvironmentVariable(
"MUJOCO_GL",
LaunchConfiguration("mujoco_gl"),
),
SetEnvironmentVariable(
"PYTHONPATH",
[
PathJoinSubstitution(
[
EnvironmentVariable("CONDA_PREFIX"),
"lib/python3.10/site-packages",
]
),
":",
PathJoinSubstitution(
[
EnvironmentVariable("CONDA_PREFIX"),
"lib/python3.10/site-packages/cmeel.prefix/lib/python3.10/site-packages",
]
),
":",
EnvironmentVariable("PYTHONPATH", default_value=""),
],
),
DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
DeclareLaunchArgument("udp_port", default_value="15000"),
DeclareLaunchArgument("udp_timer_hz", default_value="200.0"),
DeclareLaunchArgument("control_rate_hz", default_value="90.0"),
DeclareLaunchArgument("show_viewer", default_value="true"),
Node(
package="xr_rm_input",
executable="udp_controller_receiver",
name="udp_controller_receiver",
output="screen",
parameters=[
{
"udp_host": LaunchConfiguration("udp_host"),
"udp_port": LaunchConfiguration("udp_port"),
"timer_hz": LaunchConfiguration("udp_timer_hz"),
"left_topic": "/xr/left_controller",
"right_topic": "/xr/right_controller",
}
],
),
Node(
package="xr_rm_teleop",
executable="dual_arm_qp_teleop",
name="dual_arm_qp_teleop",
output="screen",
parameters=[
{
"robot_backend": "mujoco",
"control_rate_hz": LaunchConfiguration("control_rate_hz"),
"show_viewer": LaunchConfiguration("show_viewer"),
"teleop_config_file": PathJoinSubstitution(
[config_dir, "dual_arm_rm75.yaml"]
),
"peripheral_config_file": PathJoinSubstitution(
[config_dir, "peripherals_rm75.yaml"]
),
}
],
),
]
)