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feat: remove meta quest dependency #39

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f70c27d
feat: (1)remove the meta quest dependency on example 4 (2) set defaul…
kwangneuraco May 28, 2026
47d87e7
feat: make use meta-quest optional
kwangneuraco May 31, 2026
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187 changes: 115 additions & 72 deletions examples/4_rollout_neuracore_policy.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@
import numpy as np
from neuracore_types import DataType, EmbodimentDescription

# Add parent directory to path to import pink_ik_solver and piper_controller
# Add parent directory to path to import piper_controller
sys.path.insert(0, str(Path(__file__).parent.parent))

from common.configs import (
Expand Down Expand Up @@ -61,15 +61,16 @@
)
from common.policy_state import PolicyState
from common.robot_visualizer import RobotVisualizer
from common.threads.ik_solver import ik_solver_thread
from common.threads.joint_state import joint_state_thread
from common.threads.quest_reader import quest_reader_thread
from common.threads.realsense_camera import camera_thread
from meta_quest_teleop.reader import MetaQuestReader

from pink_ik_solver import PinkIKSolver
from piper_controller import PiperController

# Default for Meta Quest teleop. Set to True to enable teleop by default, or
# pass --use-meta-quest on the command line to force it on for a single run.
# When disabled, the script runs as a pure policy rollout via Viser.
USE_META_QUEST = True


def toggle_robot_enabled_status(
data_manager: DataManager,
Expand Down Expand Up @@ -596,11 +597,23 @@ def update_visualization(
parser = argparse.ArgumentParser(
description="Piper Robot Test with Neuracore Policy - REAL ROBOT CONTROL"
)
parser.add_argument(
"--use-meta-quest",
action="store_true",
help=(
"Enable Meta Quest teleoperation (Quest controller drives the robot "
f"via the IK solver). Overrides the USE_META_QUEST={USE_META_QUEST} "
"default in this file."
),
)
parser.add_argument(
"--ip-address",
type=str,
default=None,
help="IP address of Meta Quest device (optional, defaults to None for auto-discovery)",
help=(
"IP address of Meta Quest device (optional, defaults to None for "
"auto-discovery). Only used when Meta Quest teleop is enabled."
),
)
policy_group = parser.add_mutually_exclusive_group(required=True)
policy_group.add_argument(
Expand Down Expand Up @@ -629,12 +642,25 @@ def update_visualization(
)
args = parser.parse_args()

# Resolve whether to use Meta Quest teleop: in-code default OR CLI flag.
use_meta_quest = USE_META_QUEST or args.use_meta_quest

# Lazily import Meta Quest / IK dependencies only when teleop is enabled, so
# the script can run policy-only on machines without meta_quest_teleop.
if use_meta_quest:
from common.threads.ik_solver import ik_solver_thread
from common.threads.quest_reader import quest_reader_thread
from meta_quest_teleop.reader import MetaQuestReader

from pink_ik_solver import PinkIKSolver

print("=" * 60)
print("PIPER ROBOT TEST WITH NEURACORE POLICY")
print("=" * 60)
print("Thread frequencies:")
print(f" 🎮 Quest Controller: {CONTROLLER_DATA_RATE} Hz")
print(f" 🧮 IK Solver: {IK_SOLVER_RATE} Hz")
if use_meta_quest:
print(f" 🎮 Quest Controller: {CONTROLLER_DATA_RATE} Hz")
print(f" 🧮 IK Solver: {IK_SOLVER_RATE} Hz")
print(f" 🤖 Robot Controller: {ROBOT_RATE} Hz")
print(f" 📸 Camera Frame: {CAMERA_FRAME_STREAMING_RATE} Hz")
print(f" 📊 Joint State: {JOINT_STATE_STREAMING_RATE} Hz")
Expand Down Expand Up @@ -696,11 +722,12 @@ def update_visualization(

# Initialize shared state
data_manager = DataManager()
data_manager.set_controller_filter_params(
CONTROLLER_MIN_CUTOFF,
CONTROLLER_BETA,
CONTROLLER_D_CUTOFF,
)
if use_meta_quest:
data_manager.set_controller_filter_params(
CONTROLLER_MIN_CUTOFF,
CONTROLLER_BETA,
CONTROLLER_D_CUTOFF,
)

# Initialize robot controller
print("\n🤖 Initializing Piper robot controller...")
Expand All @@ -723,47 +750,51 @@ def update_visualization(
)
joint_state_thread_obj.start()

# Initialize Meta Quest reader
print("\n🎮 Initializing Meta Quest reader...")
quest_reader = MetaQuestReader(ip_address=args.ip_address, port=5555, run=True)

# Start data collection thread
print("\n🎮 Starting quest reader thread...")
quest_thread = threading.Thread(
target=quest_reader_thread, args=(data_manager, quest_reader), daemon=True
)
quest_thread.start()
quest_reader = None
quest_thread = None
ik_thread = None
if use_meta_quest:
# Initialize Meta Quest reader
print("\n🎮 Initializing Meta Quest reader...")
quest_reader = MetaQuestReader(ip_address=args.ip_address, port=5555, run=True)

# Start data collection thread
print("\n🎮 Starting quest reader thread...")
quest_thread = threading.Thread(
target=quest_reader_thread, args=(data_manager, quest_reader), daemon=True
)
quest_thread.start()

# set initial configuration to current joint angles
current_joint_angles = data_manager.get_current_joint_angles()
if current_joint_angles is not None:
initial_joint_angles = np.radians(current_joint_angles)
else:
initial_joint_angles = np.radians(NEUTRAL_JOINT_ANGLES)

# Create Pink IK solver
print("\n🔧 Creating Pink IK solver...")
ik_solver = PinkIKSolver(
urdf_path=URDF_PATH,
end_effector_frame=GRIPPER_FRAME_NAME,
solver_name=SOLVER_NAME,
position_cost=POSITION_COST,
orientation_cost=ORIENTATION_COST,
frame_task_gain=FRAME_TASK_GAIN,
lm_damping=LM_DAMPING,
damping_cost=DAMPING_COST,
solver_damping_value=SOLVER_DAMPING_VALUE,
integration_time_step=1 / IK_SOLVER_RATE,
initial_configuration=initial_joint_angles,
posture_cost_vector=np.array(POSTURE_COST_VECTOR),
)
# set initial configuration to current joint angles
current_joint_angles = data_manager.get_current_joint_angles()
if current_joint_angles is not None:
initial_joint_angles = np.radians(current_joint_angles)
else:
initial_joint_angles = np.radians(NEUTRAL_JOINT_ANGLES)

# Create Pink IK solver
print("\n🔧 Creating Pink IK solver...")
ik_solver = PinkIKSolver(
urdf_path=URDF_PATH,
end_effector_frame=GRIPPER_FRAME_NAME,
solver_name=SOLVER_NAME,
position_cost=POSITION_COST,
orientation_cost=ORIENTATION_COST,
frame_task_gain=FRAME_TASK_GAIN,
lm_damping=LM_DAMPING,
damping_cost=DAMPING_COST,
solver_damping_value=SOLVER_DAMPING_VALUE,
integration_time_step=1 / IK_SOLVER_RATE,
initial_configuration=initial_joint_angles,
posture_cost_vector=np.array(POSTURE_COST_VECTOR),
)

# Start IK solver thread
print("\n🧮 Starting IK solver thread...")
ik_thread = threading.Thread(
target=ik_solver_thread, args=(data_manager, ik_solver), daemon=True
)
ik_thread.start()
# Start IK solver thread
print("\n🧮 Starting IK solver thread...")
ik_thread = threading.Thread(
target=ik_solver_thread, args=(data_manager, ik_solver), daemon=True
)
ik_thread.start()

# Start camera thread
print("\n📷 Starting camera thread...")
Expand Down Expand Up @@ -827,14 +858,17 @@ def update_visualization(
)
)

# Register Quest reader button callbacks (after visualizer is created)
quest_reader.on(
"button_a_pressed",
lambda: toggle_robot_enabled_status(data_manager, robot_controller, visualizer),
)
quest_reader.on(
"button_b_pressed", lambda: home_robot(data_manager, robot_controller)
)
if use_meta_quest and quest_reader is not None:
# Register Quest reader button callbacks (after visualizer is created)
quest_reader.on(
"button_a_pressed",
lambda: toggle_robot_enabled_status(
data_manager, robot_controller, visualizer
),
)
quest_reader.on(
"button_b_pressed", lambda: home_robot(data_manager, robot_controller)
)

# Start policy execution thread
print("\n🤖 Starting policy execution thread...")
Expand All @@ -854,15 +888,21 @@ def update_visualization(
policy_execution_thread_obj.start()

print()
print("🚀 Starting teleoperation with policy testing...")
print("🎮 CONTROLS:")
print(" 1. Press BUTTON A or Enable Robot button to enable/disable robot")
print(" 2. You have same control over the robot as in teleoperation.")
print(" - Hold RIGHT GRIP to activate teleoperation")
print(" - Move controller - robot follows!")
print(" - Hold RIGHT TRIGGER to close gripper")
print(" - Press BUTTON A or Enable Robot button to enable/disable robot")
print(" - Press BUTTON B or Home Robot button to send robot home")
if use_meta_quest:
print("🚀 Starting teleoperation with policy testing...")
print("🎮 CONTROLS:")
print(" 1. Press BUTTON A or Enable Robot button to enable/disable robot")
print(" 2. You have same control over the robot as in teleoperation.")
print(" - Hold RIGHT GRIP to activate teleoperation")
print(" - Move controller - robot follows!")
print(" - Hold RIGHT TRIGGER to close gripper")
print(" - Press BUTTON A or Enable Robot button to enable/disable robot")
print(" - Press BUTTON B or Home Robot button to send robot home")
else:
print("🚀 Starting policy rollout...")
print("🖥️ CONTROLS (Viser):")
print(" 1. Click 'Enable Robot' button to enable/disable robot")
print(" 2. Click 'Home Robot' button to send robot home")
print(" 3. Click 'Run Policy' button to run policy (without executing)")
print(" 4. Click 'Execute Policy' button to execute prediction horizon")
print(" 5. Click 'Run and Execute Policy' button to run and execute policy")
Expand Down Expand Up @@ -890,9 +930,12 @@ def update_visualization(
# shutdown threads
data_manager.request_shutdown()
data_manager.set_robot_activity_state(RobotActivityState.DISABLED)
quest_thread.join()
quest_reader.stop()
ik_thread.join()
if quest_thread is not None:
quest_thread.join()
if quest_reader is not None:
quest_reader.stop()
if ik_thread is not None:
ik_thread.join()
camera_thread_obj.join()
robot_controller.cleanup()

Expand Down
3 changes: 1 addition & 2 deletions examples/common/configs.py
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Original file line number Diff line number Diff line change
Expand Up @@ -55,8 +55,7 @@
CAMERA_HEIGHT = 480

# # Initial neutral pose for robot (mm and degrees)
# NEUTRAL_JOINT_ANGLES = [-1.003, 80.167, -51.064, -4.127, 16.548, 2.619]
NEUTRAL_JOINT_ANGLES = [0.4, 112.3, -101.0, -2.6, 63.2, 18.3]
NEUTRAL_JOINT_ANGLES = [-9.3, 86.7, -86.6, 1.8, 61.7, -5.1]
NEUTRAL_END_EFFECTOR_POSE = [455.257, -46.344, 172.213, 176.205, -14.545, 29.621]

# Posture task cost vector (one weight per joint)
Expand Down
6 changes: 4 additions & 2 deletions piper_controller.py
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -91,7 +91,7 @@ def __init__(

# Gripper range in degrees (for internal SDK communication)
self.GRIPPER_DEGREES_MIN = -10.00
self.GRIPPER_DEGREES_MAX = 30.00
self.GRIPPER_DEGREES_MAX = 80.00
self.GRIPPER_DEGREES_RANGE = self.GRIPPER_DEGREES_MAX - self.GRIPPER_DEGREES_MIN

# Home gripper value in degrees
Expand Down Expand Up @@ -491,7 +491,9 @@ def control_loop(self) -> None:
if now - last_reenable_time >= reenable_interval:
if not self.piper.EnablePiper():
if self.debug_mode:
print("Control loop: EnablePiper re-enable returned False")
print(
"Control loop: EnablePiper re-enable returned False"
)
last_reenable_time = now

# Get current control mode
Expand Down