XRoboToolkit-PC-Service-Pybind

This project provides a python interface to extract XR state using XRoboToolkit-PC-Service sdk.

Requirements

• pybind11
• XRoboRoolkit 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

Windows

Ensure pybind11 is installed before running the following command.

setup_windows.bat

Using the Python Bindings

1. Get Controller and Headset Poses

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)

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

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

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 (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