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a89a522 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 | # XRoboToolkit-PC-Service-Pybind
This project provides a python interface to extract XR state using XRoboToolkit-PC-Service sdk.
## Requirements
- [`pybind11`](https://github.com/pybind/pybind11)
- [`XRoboRoolkit PC Service`](https://github.com/XR-Robotics/XRoboToolkit-PC-Service#)
## Building the Project
### Ubuntu 22.04
```
conda remove --name xr --all
conda create -n xr python=3.10
conda activate xr
mkdir -p tmp
cd tmp
git clone https://github.com/XR-Robotics/XRoboToolkit-PC-Service.git
cd XRoboToolkit-PC-Service/RoboticsService/PXREARobotSDK
bash build.sh
cd ../../../..
mkdir -p lib
mkdir -p include
cp tmp/XRoboToolkit-PC-Service/RoboticsService/PXREARobotSDK/PXREARobotSDK.h include/
cp -r tmp/XRoboToolkit-PC-Service/RoboticsService/PXREARobotSDK/nlohmann include/nlohmann/
cp tmp/XRoboToolkit-PC-Service/RoboticsService/PXREARobotSDK/build/libPXREARobotSDK.so lib/
# rm -rf tmp
# Build the project
conda install -c conda-forge pybind11
pip uninstall -y xrobotoolkit_sdk
python setup.py install
```
### Linux Ubuntu 22.04 arm64 version (Nvidia orin supported)
```
bash setup_orin.sh
```
### Windows
**Ensure pybind11 is installed before running the following command.**
```
setup_windows.bat
```
## Using the Python Bindings
**1. Get Controller and Headset Poses**
```python
import xrobotoolkit_sdk as xrt
xrt.init()
left_pose = xrt.get_left_controller_pose()
right_pose = xrt.get_right_controller_pose()
headset_pose = xrt.get_headset_pose()
print(f"Left Controller Pose: {left_pose}")
print(f"Right Controller Pose: {right_pose}")
print(f"Headset Pose: {headset_pose}")
xrt.close()
```
**2. Get Controller Inputs (Triggers, Grips, Buttons, Axes)**
```python
import xrobotoolkit_sdk as xrt
xrt.init()
# Triggers and Grips
left_trigger = xrt.get_left_trigger()
right_grip = xrt.get_right_grip()
print(f"Left Trigger: {left_trigger}, Right Grip: {right_grip}")
# Buttons
a_button_pressed = xrt.get_A_button()
x_button_pressed = xrt.get_X_button()
print(f"A Button Pressed: {a_button_pressed}, X Button Pressed: {x_button_pressed}")
# Axes
left_axis = xrt.get_left_axis()
right_axis_click = xrt.get_right_axis_click()
print(f"Left Axis: {left_axis}, Right Axis Clicked: {right_axis_click}")
# Timestamp
timestamp = xrt.get_time_stamp_ns()
print(f"Current Timestamp (ns): {timestamp}")
xrt.close()
```
**3. Get hand tracking state**
```python
import xrobotoolkit_sdk as xrt
xrt.init()
# Left Hand State
left_hand_tracking_state = xrt.get_left_hand_tracking_state()
print(f"Left Hand State: {left_hand_tracking_state}")
# Left Hand isActive
left_hand_is_active = xrt.get_left_hand_is_active()
print(f"Left Hand isActive: {left_hand_is_active}")
# Right Hand State
right_hand_tracking_state = xrt.get_right_hand_tracking_state()
print(f"Right Hand State: {right_hand_tracking_state}")
# Right Hand isActive
right_hand_is_active = xrt.get_right_hand_is_active()
print(f"Right Hand isActive: {right_hand_is_active}")
xrt.close()
```
**4. Get whole body motion tracking （please refer to this example when check Full Body tracking mode in UNITY app）**
```python
import xrobotoolkit_sdk as xrt
xrt.init()
# Check if body tracking data is available
if xrt.is_body_data_available():
# Get body joint poses (24 joints, 7 values each: x,y,z,qx,qy,qz,qw)
body_poses = xrt.get_body_joints_pose()
print(f"Body joints pose data: {body_poses}")
# Get body joint velocities (24 joints, 6 values each: vx,vy,vz,wx,wy,wz)
body_velocities = xrt.get_body_joints_velocity()
print(f"Body joints velocity data: {body_velocities}")
# Get body joint accelerations (24 joints, 6 values each: ax,ay,az,wax,way,waz)
body_accelerations = xrt.get_body_joints_acceleration()
print(f"Body joints acceleration data: {body_accelerations}")
# Get IMU timestamps for each joint
imu_timestamps = xrt.get_body_joints_timestamp()
print(f"IMU timestamps: {imu_timestamps}")
# Get body data timestamp
body_timestamp = xrt.get_body_timestamp_ns()
print(f"Body data timestamp: {body_timestamp}")
# Example: Get specific joint data (Head joint is index 15)
head_pose = body_poses[15] # Head joint
x, y, z, qx, qy, qz, qw = head_pose
print(f"Head pose: Position({x:.3f}, {y:.3f}, {z:.3f}) Rotation({qx:.3f}, {qy:.3f}, {qz:.3f}, {qw:.3f})")
else:
print("Body tracking data not available. Make sure:")
print("1. PICO headset is connected")
print("2. Body tracking is enabled in the control panel")
print("3. At least two Pico Swift devices are connected and calibrated")
xrt.close()
```
**Body Joint Indices (similar to SMPL, 24 joints total):**
- 0: Pelvis, 1: Left Hip, 2: Right Hip, 3: Spine1, 4: Left Knee, 5: Right Knee
- 6: Spine2, 7: Left Ankle, 8: Right Ankle, 9: Spine3, 10: Left Foot, 11: Right Foot
- 12: Neck, 13: Left Collar, 14: Right Collar, 15: Head, 16: Left Shoulder, 17: Right Shoulder
- 18: Left Elbow, 19: Right Elbow, 20: Left Wrist, 21: Right Wrist, 22: Left Hand, 23: Right Hand
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