Add support of Franka Panda robot and Zed camera (not fully tested) by Ericonaldo · Pull Request #2 · Universal-Control/ManiUniCon

Ericonaldo · 2025-09-08T19:48:24Z

Add support of Franka Panda robot; Update readme

zbzhu99

Can you use existing franka panda urdf under assets/franka_urdf?

zbzhu99

Use existing franka panda urdf

zbzhu99 · 2025-09-11T10:10:00Z

+DEBUG = True
+if DEBUG:
+    import os
+    import shutil
+    if os.path.exists(f"/home/ydu/xiaoshen/franka_install/ManiUniCon/outputs/22222/joints-command-before-smoothing"):
+        shutil.rmtree(f"/home/ydu/xiaoshen/franka_install/ManiUniCon/outputs/22222/joints-command-before-smoothing")
+    if os.path.exists(f"/home/ydu/xiaoshen/franka_install/ManiUniCon/outputs/22222/joints-command-after-smoothing"):
+        shutil.rmtree(f"/home/ydu/xiaoshen/franka_install/ManiUniCon/outputs/22222/joints-command-after-smoothing")


Remove all DEBUG code in gello.py

zbzhu99 · 2025-09-11T10:10:21Z

 )
 from maniunicon.core.policy import BasePolicy
-
+from maniunicon.utils.data import get_next_episode_dir


This import is not used

I have added recording logic and this is used now

zbzhu99 · 2025-09-11T10:10:36Z

 from multiprocessing.synchronize import Event
 from loop_rate_limiters import RateLimiter
 from scipy.spatial.transform import Rotation
+from loguru import logger as lgr


what is this

zbzhu99 · 2025-09-11T10:11:04Z

+DEBUG = True
+if DEBUG:
+    import os
+    import shutil
+    if os.path.exists(f"/home/ydu/xiaoshen/franka_install/ManiUniCon/outputs/22222/joints"):
+        shutil.rmtree(f"/home/ydu/xiaoshen/franka_install/ManiUniCon/outputs/22222/joints")
+    os.makedirs(f"/home/ydu/xiaoshen/franka_install/ManiUniCon/outputs/22222/joints", exist_ok=True)


Remove all debug code and hardcode paths

zbzhu99 · 2025-09-11T10:11:33Z

+                    #     max_relative_dynamics_factor = RelativeDynamicsFactor(
+                    #         velocity=0.99, acceleration=0.5, jerk=0.1
+                    #     )
+                    motion = JointMotion(action.joint_positions,relative_dynamics_factor=max_relative_dynamics_factor)


format the code using black

zbzhu99 · 2025-09-11T10:14:07Z

            self._is_connected = True
            self._error_state = False
+
+            if self.config.get("use_ruckig", False):


add comment to explain what ruckig is (add some links maybe) and clarify when the user should enable it.

zbzhu99 · 2025-09-11T10:14:37Z

+import numpy as np
+from collections import deque
+from typing import Optional, List, Tuple
+import time
+
+class LowPassFilter:
+    def __init__(self, alpha, initial_value):
+        self.alpha = alpha
+        self.y = initial_value
+
+    def filter(self, x):
+        return x
+        self.y = self.alpha * x + (1 - self.alpha) * self.y
+        return self.y
+
+class JointSpaceSmoother:
+    """
+    Online smoother for robot control in joint space.


format the code

zbzhu99 · 2025-09-11T10:14:56Z

+from ruckig import InputParameter, OutputParameter, Result, Ruckig
+import math
+import numpy as np
+import time
+
+def init_ruckig(init_q: np.ndarray, init_dq: np.ndarray, DT: float) -> tuple[Ruckig, InputParameter, OutputParameter, Result]:
+    num_joints = init_q.shape[0]
+    otg = Ruckig(num_joints, DT)
+    otg_inp = InputParameter(num_joints)
+    otg_out = OutputParameter(num_joints)
+    otg_inp.max_velocity = 4 * [math.radians(80)] + 3 * [math.radians(140)]
+    # otg_inp.max_acceleration = 4 * [math.radians(240)] + 3 * [math.radians(450)]
+    otg_inp.current_position = init_q.copy()
+    otg_inp.current_velocity = init_dq.copy()


zbzhu99 · 2025-09-11T10:15:13Z

@@ -0,0 +1,274 @@
+#!/usr/bin/env python3
+"""
+相机标定程序 - 读取相机，计算内外参并保存


remove Chinese comments

zbzhu99 · 2025-09-11T10:15:30Z

+#!/usr/bin/env python3
+"""
+Multi-camera point cloud real-time visualization program
+Reads saved calibration results, transforms point clouds from any number of cameras to marker coordinate system, and visualizes them in real-time using meshcat
+"""
+
+import numpy as np
+import argparse
+import time
+import threading
+from pathlib import Path
+from typing import List, Dict, Any
+
+try:
+    import pyrealsense2 as rs
+    REALSENSE_AVAILABLE = True
+except ImportError:
+    REALSENSE_AVAILABLE = False
+    print("Warning: pyrealsense2 not available.")


format the code

zbzhu99 · 2025-09-11T15:17:12Z

+class LowPassFilter:
+    def __init__(self, alpha, initial_value):
+        self.alpha = alpha
+        self.y = initial_value
+
+    def filter(self, x):
+        return x
+        self.y = self.alpha * x + (1 - self.alpha) * self.y
+        return self.y


not implemented now?

add project root reformat .

Ericonaldo and others added 11 commits September 2, 2025 08:48

update franka interface, not tested

0211975

update franka interface with franky

f92448e

update franka interface with deoxys

6a21484

update franka config

f36e846

remove franka gripper to make meshcat work for now

6ee2368

fix config bugs

dafa617

initialize zed camera

46d8a8b

fix bug for deoxys

966a7c4

move spacemouse device spec to yaml

b8b8683

merge main; update readme

51d725d

merge main; update readme

248eed9

zbzhu99 self-assigned this Sep 10, 2025

zbzhu99 reviewed Sep 10, 2025

View reviewed changes

update __init__ of robot_interface

ea3abb8

zbzhu99 requested changes Sep 10, 2025

View reviewed changes

xshenhan added 5 commits September 10, 2025 14:15

add calib and visualize tool

ac56f55

refine control of franka

348543e

ignore tests

29a2bb9

Merge branch 'hxs/dev' into franka_dev

4a3af42

clean urdf names

3833d5c

zbzhu99 requested changes Sep 11, 2025

View reviewed changes

zbzhu99 and others added 2 commits September 11, 2025 18:46

Trigger CI

58450c7

visualize tools; reformat; record of gello

5a49a82

zbzhu99 reviewed Sep 11, 2025

View reviewed changes

xshenhan force-pushed the franka_dev branch from f361d2c to 198fa21 Compare September 12, 2025 05:46

remove abs path and fix filter

3277c53

add project root reformat .

xshenhan force-pushed the franka_dev branch from 198fa21 to 3277c53 Compare September 12, 2025 05:48

Trigger CI

7e6f33a

zbzhu99 approved these changes Sep 12, 2025

View reviewed changes

zbzhu99 merged commit 825bf88 into main Sep 12, 2025
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Ericonaldo commented Sep 8, 2025

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