README.md

Installation

install the necessary package with the following command:

pip install -e .[real_control]

install the XArm Python SDK:

git clone https://github.com/xArm-Developer/xArm-Python-SDK.git
cd xArm-Python-SDK
python setup.py install

install the Ability hand python wrapper:

git clone https://github.com/Dingry/AbilityHandWrapper 
cd AbilityHandWrapper
pip install -e .

Usage

First, make sure the server is started following this instruction.

Then, run the following command to start the teleoperation client:

python teleop_bimanual_xarm7_ability.py

Please note that you need to specify both the IP address of your XArm7 and the USB port used for connecting the Ability Hand in the teleop_bimanual_xarm7_ability.py file.

    left_robot = XArm7Ability(
        use_arm=USE_REAL_ARM,
        use_hand=USE_REAL_HAND,
        arm_ip="192.168.1.xxx",  # Change to your XArm7 IP address
        hand_tty_index="usb-xxx",  # Change to your Ability Hand USB port
        is_right=False,
        use_servo_control=use_servo_control,
    )
    right_robot = XArm7Ability(
        use_arm=USE_REAL_ARM,
        use_hand=USE_REAL_HAND,
        arm_ip="192.168.1.xxx",  # Change to your XArm7 IP address
        hand_tty_index="usb-xxx",  # Change to your Ability Hand USB port
        is_right=True,
        use_servo_control=use_servo_control,
    )

Configuration Options

You can customize the key configurations in the teleop_bimanual_xarm7_ability.py file.

• Bimanual alignment mode during Initialization [Documentation]:

client.send_init_config(
    robot_base_pose=(
        np.array([0, 0.4, 0, 1, 0, 0, 0]),
        np.array([0, -0.4, 0, 1, 0, 0, 0]),
    ),
    init_qpos=bimanual_init_qpos,
    joint_names=joint_names,
    bimanual_alignment_mode=BimanualAlignmentMode.ALIGN_CENTER,  # Options: ALIGN_CENTER, ALIGN_LEFT, ALIGN_RIGHT, ALIGN_SEPARETELY
    align_gravity_dir=True,
)

• Initial QPose of the robots:

left_init_qpos = np.concatenate([np.array([-26, -14.4, 1.8, 13.2, 180, 52.9, -30.5]) / 180 * np.pi, np.zeros(10)])
right_init_qpos = np.concatenate([np.array([48.1, 5.2, 1.9, 13.1, 174.6, 91.4, 46.8]) / 180 * np.pi, np.zeros(10)])

• Saving data during teleoperation:

TASK_NAME = "task_name"
SAVE_DATA = True