Installation

pip install -r requirements.txt 

For ROS communication, you also need to install ROS python dependencies. Please refer to this: https://docs.ros.org/en/humble/How-To-Guides/Using-Python-Packages.html

How to use

# Without using (demo replay) 
python robot_controller.py

# Right arm only (demo replay) 
python robot_controller_right.py 

# Dual arm (real-time control vis ROS) 
python robot_controller_real.py