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.gitattributes

@@ -57,3 +57,12 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+piper/meshes/base_link.STL filter=lfs diff=lfs merge=lfs -text
+piper/meshes/gripper_base.STL filter=lfs diff=lfs merge=lfs -text
+piper/meshes/link1.STL filter=lfs diff=lfs merge=lfs -text
+piper/meshes/link2.STL filter=lfs diff=lfs merge=lfs -text
+piper/meshes/link3.STL filter=lfs diff=lfs merge=lfs -text
+piper/meshes/link4.STL filter=lfs diff=lfs merge=lfs -text
+piper/meshes/link5.STL filter=lfs diff=lfs merge=lfs -text
+piper/meshes/link7.STL filter=lfs diff=lfs merge=lfs -text
+piper/meshes/link8.STL filter=lfs diff=lfs merge=lfs -text

20250615_122804.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84dbf7432940a15d4fd61f954b6161608633dd009322798c350924b96f40d8fe
+size 303843325

20250615_160013.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38c17a908948793ef2f869e0dde32a0340cf6ce024ad90a4ed0711f1b55a2ef9
+size 53574832

iphone_teleop_with_prepared_data.py

@@ -0,0 +1,86 @@
+import socket, struct, json
+
+# ---- UDP Setup ----
+UDP_IP   = "0.0.0.0"
+UDP_PORT = 8000
+sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+sock.bind((UDP_IP, UDP_PORT))
+print(f"Listening on UDP {UDP_IP}:{UDP_PORT}…")
+
+# ---- Linear mapping function ----
+def map_value(x, in_min, in_max, out_min, out_max):
+    """Linearly map x from [in_min, in_max] to [out_min, out_max]."""
+    # Optional: clamp x to [in_min, in_max]
+    if x < in_min: x = in_min
+    if x > in_max: x = in_max
+    return (x - in_min) / (in_max - in_min) * (out_max - out_min) + out_min
+
+# ---- Input and output ranges ----
+# D1 → X
+D1_IN_MIN, D1_IN_MAX = -1.0, 1.0
+X_OUT_MIN, X_OUT_MAX = 200_000, 500_000
+
+# D2 → Z
+D2_IN_MIN, D2_IN_MAX = -1.0, 1.0
+Z_OUT_MIN, Z_OUT_MAX = 140_000, 250_000
+
+# D3 → Y
+D3_IN_MIN, D3_IN_MAX = -3.0, 0.0
+Y_OUT_MIN, Y_OUT_MAX = -100_000, 200_000
+
+# R (degrees) → Z_rotation
+R_IN_MIN, R_IN_MAX     = -90.0,  90.0
+R_OUT_MIN, R_OUT_MAX   =   0.0, 50_000.0
+
+# GX (0–1) → Gripper_Value
+GX_IN_MIN, GX_IN_MAX   =  0.0,   1.0
+GRIP_CLOSE, GRIP_OPEN  =  0.0, 80_000.0
+
+# ---- Main loop ----
+while True:
+    data, addr = sock.recvfrom(4096)
+    if len(data) < 4:
+        continue
+
+    # Strip 4-byte little-endian length prefix
+    length, = struct.unpack('<I', data[:4])
+    payload = data[4:4+length]
+
+    try:
+        msg = json.loads(payload)
+    except json.JSONDecodeError as e:
+        print(f"⚠️  JSON decode error: {e}")
+        continue
+
+    msg_type = msg.get('__id')
+
+    if msg_type == 'PoseStateMessage':
+        # raw values
+        pos        = msg.get('gripperDeltaPosition', [0.0, 0.0, 0.0])
+        tx, ty, tz = pos if len(pos) == 3 else (0.0, 0.0, 0.0)
+        angle      = msg.get('gripperRotateDegrees', 0.0)
+        open_amt   = msg.get('gripperOpenAmount', 0.0)
+
+        # mapped values
+        X_val         = map_value(tx, D1_IN_MIN, D1_IN_MAX, X_OUT_MIN, X_OUT_MAX)
+        Z_val         = map_value(ty, D2_IN_MIN, D2_IN_MAX, Z_OUT_MIN, Z_OUT_MAX)
+        Y_val         = map_value(tz, D3_IN_MIN, D3_IN_MAX, Y_OUT_MIN, Y_OUT_MAX)
+        Z_rotation    = map_value(angle, R_IN_MIN, R_IN_MAX, R_OUT_MIN, R_OUT_MAX)
+        Gripper_Value = map_value(open_amt, GX_IN_MIN, GX_IN_MAX, GRIP_CLOSE, GRIP_OPEN)
+
+        # print everything
+        print(
+            f"[Pose]  delta=({tx:.3f},{ty:.3f},{tz:.3f}), "
+            f"gripperRotate={angle:.1f}°, gripperOpen={open_amt:.2f}"
+        )
+        print(
+            f"        → MAPPED: "
+            f"X={X_val:.0f}, Y={Y_val:.0f}, Z={Z_val:.0f}, "
+            f"Z_rotation={Z_rotation:.0f}, Gripper_Value={Gripper_Value:.0f}"
+        )
+
+    elif msg_type == 'HelloMessage':
+        print(f"[Hello] {msg.get('message')}")
+
+    else:
+        print(f"[{msg_type}] {msg}")

piper/README.md

@@ -0,0 +1,6 @@
+python lerobot/scripts/control_robot.py \
+  --robot.type=piper \
+  --robot.port=can0 \
+  --robot.max_relative_target=5.0 \
+  --control.type=teleoperate
+

piper/__init__.py

@@ -0,0 +1,6 @@
+# lerobot/common/robots/piper/__init__.py
+
+from .config_piper import PiperConfig
+from .piper import PiperRobot
+
+__all__ = ["PiperConfig", "PiperRobot"]

piper/config_piper.py

@@ -0,0 +1,35 @@
+# lerobot/common/robots/piper/config_piper.py
+
+from dataclasses import dataclass, field
+from typing import Optional
+from lerobot.common.cameras import CameraConfig
+from ..config import RobotConfig
+
+@RobotConfig.register_subclass("piper")
+@dataclass
+class PiperConfig(RobotConfig):
+    """
+    Configuration for PiperRobot integration in (older) LeRobot.
+    """
+    # Provide either a CAN port string. If None, auto-detect in connect().
+    port: Optional[str] = None
+
+    # Limit on per-step change for joint positions (in radians). Smaller for safety.
+    # Similar to ViperXConfig.max_relative_target.
+    max_relative_target: Optional[float] = 5.0
+
+    # Speed for gripper control (units per PiperControl API). Adjust as needed.
+    gripper_speed: float = 0.1
+
+    # Camera configurations, if using cameras. Hydra or manual code can set this dict.
+    cameras: dict[str, CameraConfig] = field(default_factory=dict)
+
+    def __post_init__(self):
+        # If your RobotConfig base defines a __post_init__, chain it; otherwise ignore.
+        try:
+            super().__post_init__()
+        except Exception:
+            pass
+        # We allow port=None for auto-detect; if you want strict, uncomment:
+        # if not self.port:
+        #     raise ValueError("PiperConfig: port must be specified or allow auto-detect")

piper/meshes/base_link.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd4a3d6d0266205fe3f725f048645be66592c23564db22e08b0807d5569b2c64
+size 607384

piper/meshes/gripper_base.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2895bfa6f1eef2d0ad2cb9dfdedd5f6c760ec07388bcde2b4d1e412e1189c9cb
+size 649484

piper/meshes/link1.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ee6e1d67c0241f42a0dbaf5c676d19230375ed078ee1943bb8c4c37ab303d14
+size 447784

piper/meshes/link2.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d37675b699b643f2e15348de99aed535fac10dc5f09a79b8e4b0acfaf4e0378
+size 3658384

piper/meshes/link3.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8ae51f17c0c7f6d67b753922e2cc269f5e8372a65734f859231639a64fe8fad
+size 1845784

piper/meshes/link4.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efa33022976218f246f736a6133494b5d0e5486e8b50b52900c42f285ae85558
+size 877984

piper/meshes/link5.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1c69d1c7f6f8c60e2c82331c0f444725200ed4053d3e5ec23aa82cb5db5b29f
+size 833684

piper/meshes/link7.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:475a7d8db056524d7659fadf5a2c307d62791047b6214d733dfc7846ed1c613d
+size 104384

piper/meshes/link8.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f88d534a85e28a33ef7d2061adacbd1d25214aa9325f9e464aad0f9e4b74606
+size 104384

piper/piper.py

@@ -0,0 +1,449 @@
+# lerobot/common/robots/piper/piper.py
+
+import logging
+import time
+import os
+import xml.etree.ElementTree as ET
+from typing import Any, Dict, List, Optional
+
+from lerobot.common.constants import OBS_STATE
+from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+from lerobot.common.cameras.utils import make_cameras_from_configs
+from ..utils import ensure_safe_goal_position
+from .config_piper import PiperConfig
+from ..robot import Robot
+
+# Import PiperControl APIs; adjust import if your module path differs
+from piper_control import piper_connect, piper_control
+
+logger = logging.getLogger(__name__)
+
+
+class PiperRobot(Robot):
+    """
+    Hardware integration for AgileX Piper robot, using piper_control.PiperControl API.
+    """
+
+    config_class = PiperConfig
+    name = "piper"
+
+    def __init__(self, config: PiperConfig):
+        # Call base constructor
+        super().__init__(config)
+        self.config: PiperConfig = config
+        self.robot: Optional[piper_control.PiperControl] = None
+
+        # Parse URDF for joint names if available
+        try:
+            urdf_path = os.path.join(os.path.dirname(__file__), "piper.urdf")
+            joint_names = self._parse_actuated_joint_names_from_urdf(urdf_path)
+            # Standardize names if needed
+            self.joint_names: List[str] = [name.replace(" ", "_") for name in joint_names]
+        except Exception as e:
+            logger.warning(f"Could not parse URDF for joint names: {e}")
+            self.joint_names = []
+
+        # Instantiate cameras from config
+        if config.cameras:
+            try:
+                self.cameras = make_cameras_from_configs(config.cameras)
+            except Exception as e:
+                logger.warning(f"Failed to create cameras from configs: {e}")
+                self.cameras = {}
+        else:
+            self.cameras = {}
+
+    @property
+    def _motors_ft(self) -> Dict[str, type]:
+        """
+        Feature types for joint positions: "<joint_name>.pos": float.
+        If joint_names empty, may infer later in connect().
+        """
+        # If joint_names empty, try URDF parse again
+        if not getattr(self, "joint_names", None):
+            try:
+                urdf_path = os.path.join(os.path.dirname(__file__), "piper.urdf")
+                joint_names = self._parse_actuated_joint_names_from_urdf(urdf_path)
+                self.joint_names = [name.replace(" ", "_") for name in joint_names]
+            except Exception:
+                pass
+
+        # If still empty and hardware connected, infer generic
+        if not getattr(self, "joint_names", None) and self.robot:
+            try:
+                pos_list = self.robot.get_joint_positions()
+                n = len(pos_list)
+                self.joint_names = [f"joint{i+1}" for i in range(n)]
+                logger.warning(f"Inferred generic joint names: {self.joint_names}")
+            except Exception:
+                pass
+
+        return {f"{j}.pos": float for j in self.joint_names}
+
+    @property
+    def _cameras_ft(self) -> Dict[str, tuple]:
+        """
+        Feature types for cameras: "<cam_name>": (height, width, 3).
+        """
+        feats: Dict[str, tuple] = {}
+        for cam_name, cam_cfg in self.config.cameras.items():
+            h = getattr(cam_cfg, "height", None)
+            w = getattr(cam_cfg, "width", None)
+            if h is not None and w is not None:
+                feats[cam_name] = (h, w, 3)
+            else:
+                logger.warning(f"Camera config for '{cam_name}' missing width/height; skipping feature")
+        return feats
+
+    @property
+    def observation_features(self) -> Dict[str, Any]:
+        """
+        Observation schema: flatten state and cameras and gripper.
+        """
+        feats: Dict[str, Any] = {}
+        # Joint positions
+        feats.update(self._motors_ft)
+        # Cameras
+        feats.update(self._cameras_ft)
+        # Gripper state
+        feats["gripper.left_pos"] = float
+        feats["gripper.right_pos"] = float
+        return feats
+
+    @property
+    def action_features(self) -> Dict[str, type]:
+        """
+        Action schema: joint position targets and gripper control.
+        """
+        feats = dict(self._motors_ft)
+        feats["gripper.ctrl"] = float
+        return feats
+
+    @property
+    def is_connected(self) -> bool:
+        """
+        True if hardware API and all cameras (if any) are connected.
+        """
+        api_ok = False
+        if self.robot:
+            try:
+                _ = self.robot.get_joint_positions()
+                api_ok = True
+            except Exception:
+                api_ok = False
+        cams_ok = True
+        if hasattr(self, "cameras") and self.cameras:
+            cams_ok = all(getattr(cam, "is_connected", False) for cam in self.cameras.values())
+        return api_ok and cams_ok
+
+    def connect(self, calibrate: bool = True) -> None:
+        """
+        Connect to Piper hardware and cameras.
+        """
+        if self.is_connected:
+            raise DeviceAlreadyConnectedError(f"{self} already connected")
+
+        # 1) Determine CAN port
+        can_port = self.config.port
+        if not can_port:
+            ports = piper_connect.find_ports()
+            if not ports:
+                raise DeviceNotConnectedError("No CAN ports found for Piper; check hardware/drivers")
+            first = ports[0]
+            can_port = first[0] if isinstance(first, (tuple, list)) and first else first
+            logger.info(f"No port in config; auto-detected CAN port: {can_port}")
+        else:
+            if isinstance(can_port, (tuple, list)) and can_port:
+                can_port = can_port[0]
+
+        # 2) Activate CAN interface
+        try:
+            piper_connect.activate()
+            active = piper_connect.active_ports()
+            if not active:
+                raise DeviceNotConnectedError("Failed to activate any CAN port for Piper")
+            active_ifaces: List[str] = []
+            for item in active:
+                if isinstance(item, (tuple, list)) and item:
+                    active_ifaces.append(item[0])
+                else:
+                    active_ifaces.append(item)
+            if can_port not in active_ifaces:
+                logger.warning(
+                    "Specified port %s not in active ports %s; using %s",
+                    can_port, active_ifaces, active_ifaces[0] if active_ifaces else can_port
+                )
+                can_port = active_ifaces[0] if active_ifaces else can_port
+        except Exception as e:
+            raise DeviceNotConnectedError(f"Failed to activate CAN interface: {e}")
+
+        # 3) Instantiate PiperControl
+        try:
+            self.robot = piper_control.PiperControl(can_port=can_port)
+        except Exception as e:
+            raise DeviceNotConnectedError(f"Failed to construct PiperControl: {e}")
+
+        # 4) Enable/reset sequence
+        try:
+            self.robot.enable()
+            time.sleep(0.5)
+            try:
+                self.robot.reset()
+            except RuntimeError as e:
+                logger.warning(f"PiperControl.reset() warning: {e}")
+            time.sleep(0.5)
+            self.robot.enable()
+            time.sleep(0.5)
+        except Exception as e:
+            logger.warning(f"Enable/reset sequence exception: {e}")
+
+        # 5) Infer or adjust joint_names from hardware length
+        try:
+            pos_list = self.robot.get_joint_positions()
+            n_hw = len(pos_list)
+            if not getattr(self, "joint_names", None):
+                # No URDF names: generic
+                self.joint_names = [f"joint{i+1}" for i in range(n_hw)]
+                logger.info(f"Inferred joint names from hardware: {self.joint_names}")
+            else:
+                n_urdf = len(self.joint_names)
+                if n_urdf != n_hw:
+                    if n_urdf > n_hw:
+                        logger.warning(
+                            "URDF joint count (%d) != hardware count (%d). Trimming to %d.",
+                            n_urdf, n_hw, n_hw
+                        )
+                        self.joint_names = self.joint_names[:n_hw]
+                    else:
+                        logger.warning(
+                            "URDF joint count (%d) < hardware count (%d). Padding generic names.",
+                            n_urdf, n_hw
+                        )
+                        for i in range(n_urdf, n_hw):
+                            self.joint_names.append(f"joint{i+1}")
+                    logger.info(f"Adjusted joint_names: {self.joint_names}")
+                else:
+                    logger.info(f"Using URDF joint_names matching hardware: {self.joint_names}")
+        except Exception as e:
+            logger.warning(f"Could not infer/adjust joint names: {e}")
+
+        # 6) Connect cameras
+        for cam_name, cam in self.cameras.items():
+            try:
+                cam.connect()
+                logger.info(f"Connected camera '{cam_name}'.")
+            except Exception as e:
+                logger.warning(f"Failed to connect camera '{cam_name}': {e}")
+
+        logger.info(f"{self} connected on CAN port {can_port}.")
+
+        # 7) Calibration stub if desired
+        if calibrate:
+            try:
+                self._run_calibration()
+            except NotImplementedError:
+                logger.info("Piper calibration not implemented; skipping.")
+            except Exception as e:
+                logger.warning(f"Calibration exception: {e}")
+
+    @property
+    def is_calibrated(self) -> bool:
+        """
+        Override: return True if calibration done. Here stub True.
+        """
+        return True
+
+    def calibrate(self) -> None:
+        """
+        Stub for calibration.
+        """
+        raise NotImplementedError("Piper calibration not implemented")
+
+    def configure(self) -> None:
+        """
+        Stub for any further configuration.
+        """
+        logger.info("PiperRobot.configure(): no-op.")
+
+    def _run_calibration(self):
+        """
+        Stub to skip calibration.
+        """
+        raise NotImplementedError("Piper hardware calibration not implemented")
+
+    def get_observation(self) -> Dict[str, Any]:
+        """
+        Read joint states, gripper state, and camera frames.
+        Returns a dict mapping "<joint_name>.pos" -> float, "gripper.left_pos"/right_pos, and camera images.
+        """
+        if not self.is_connected:
+            raise DeviceNotConnectedError(f"{self} is not connected.")
+
+        obs_dict: Dict[str, Any] = {}
+
+        # Read joint positions
+        try:
+            pos_list = self.robot.get_joint_positions()  # list of floats
+            # Flatten using joint_names
+            for idx, pos in enumerate(pos_list):
+                if idx < len(self.joint_names):
+                    name = self.joint_names[idx]
+                else:
+                    name = f"joint{idx+1}"
+                obs_dict[f"{name}.pos"] = float(pos)
+        except Exception as e:
+            logger.error(f"Error reading joint positions: {e}")
+            raise DeviceNotConnectedError(f"Failed to read joint positions: {e}")
+
+        # Read gripper state
+        try:
+            gstate = self.robot.get_gripper_state()
+            if isinstance(gstate, (list, tuple)) and len(gstate) >= 2:
+                obs_dict["gripper.left_pos"] = float(gstate[0])
+                obs_dict["gripper.right_pos"] = float(gstate[1])
+            else:
+                val = float(gstate[0]) if isinstance(gstate, (list, tuple)) else float(gstate)
+                obs_dict["gripper.left_pos"] = val
+                obs_dict["gripper.right_pos"] = val
+        except Exception as e:
+            logger.warning(f"Failed to read gripper state: {e}")
+
+        # Read cameras
+        for cam_key, cam in self.cameras.items():
+            try:
+                frame = cam.async_read() if hasattr(cam, "async_read") else cam.read()
+                obs_dict[cam_key] = frame
+            except Exception as e:
+                logger.warning(f"Failed to read camera '{cam_key}': {e}")
+
+        return obs_dict
+
+    def send_action(self, action: Dict[str, float]) -> Dict[str, float]:
+        """
+        Send desired joint targets and gripper control.
+        action keys: "<joint_name>.pos" -> target, "gripper.ctrl" -> float.
+        Returns the dict of actual sent joint positions.
+        """
+        if not self.is_connected:
+            raise DeviceNotConnectedError(f"{self} is not connected.")
+
+        # Extract desired joint positions
+        goal_pos: Dict[str, float] = {}
+        for key, val in action.items():
+            if key.endswith(".pos"):
+                jname = key[:-4]
+                goal_pos[jname] = float(val)
+
+        # Read current positions
+        try:
+            current_positions = self.robot.get_joint_positions()
+        except Exception as e:
+            raise DeviceNotConnectedError(f"Failed to read joint positions for send_action: {e}")
+
+        # Safety clipping
+        if self.config.max_relative_target is not None:
+            current_states: Dict[str, float] = {}
+            for idx, pos in enumerate(current_positions):
+                if idx < len(self.joint_names):
+                    name = self.joint_names[idx]
+                else:
+                    name = f"joint{idx+1}"
+                current_states[name] = float(pos)
+            clip_dict: Dict[str, Any] = {}
+            for j, desired in goal_pos.items():
+                if j in current_states:
+                    clip_dict[j] = (desired, current_states[j])
+                else:
+                    logger.warning(f"send_action: joint {j} not in current_states; skipping clip")
+                    clip_dict[j] = (desired, desired)
+            try:
+                safe_goal = ensure_safe_goal_position(clip_dict, self.config.max_relative_target)
+                goal_pos = safe_goal
+            except Exception as e:
+                logger.warning(f"Could not apply safety clipping: {e}")
+
+        # Prepare ordered list for PiperControl
+        positions_list: List[float] = []
+        for idx in range(len(self.joint_names)):
+            name = self.joint_names[idx]
+            if name in goal_pos:
+                positions_list.append(float(goal_pos[name]))
+            else:
+                # hold current
+                if idx < len(current_positions):
+                    positions_list.append(float(current_positions[idx]))
+                else:
+                    positions_list.append(0.0)
+
+        # Send joint positions
+        try:
+            self.robot.set_joint_positions(positions_list)
+        except Exception as e:
+            logger.error(f"Error sending joint commands: {e}")
+            raise DeviceNotConnectedError(f"Failed to send joint commands: {e}")
+
+        # Handle gripper control
+        if "gripper.ctrl" in action:
+            try:
+                gval = float(action["gripper.ctrl"])
+                speed = getattr(self.config, "gripper_speed", 0.1)
+                self.robot.set_gripper_ctrl(gval, speed)
+            except Exception as e:
+                logger.warning(f"Failed to send gripper ctrl: {e}")
+
+        # Return sent joint positions
+        sent: Dict[str, float] = {}
+        for idx, pos in enumerate(positions_list):
+            name = self.joint_names[idx] if idx < len(self.joint_names) else f"joint{idx+1}"
+            sent[f"{name}.pos"] = float(pos)
+        return sent
+
+    def disconnect(self):
+        """
+        Safely disconnect from Piper hardware and cameras.
+        """
+        if not self.robot:
+            raise DeviceNotConnectedError(f"{self} is not connected.")
+        # Attempt to disable or reset hardware
+        try:
+            if hasattr(self.robot, "disable"):
+                try:
+                    self.robot.disable()
+                except Exception:
+                    self.robot.reset()
+            else:
+                try:
+                    self.robot.reset()
+                except Exception:
+                    pass
+        except Exception as e:
+            logger.warning(f"Error during Piper disable/reset: {e}")
+
+        # Disconnect cameras
+        for cam in self.cameras.values():
+            try:
+                cam.disconnect()
+            except Exception:
+                pass
+
+        self.robot = None
+        logger.info(f"{self} disconnected.")
+
+    def _parse_actuated_joint_names_from_urdf(self, urdf_path: str) -> List[str]:
+        """
+        Parse URDF file to extract actuated joint names (revolute/prismatic) in order.
+        """
+        if not os.path.isfile(urdf_path):
+            raise FileNotFoundError(f"URDF file not found at {urdf_path}")
+        tree = ET.parse(urdf_path)
+        root = tree.getroot()
+        joint_names: List[str] = []
+        for joint in root.findall('joint'):
+            jtype = joint.attrib.get('type', '')
+            if jtype in ('revolute', 'prismatic'):
+                name = joint.attrib.get('name')
+                if name:
+                    joint_names.append(name)
+        if not joint_names:
+            raise ValueError("No actuated joints found in URDF")
+        return joint_names

piper/piper.urdf

@@ -0,0 +1,572 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="piper">
+  <link name="dummy_link"/>
+  <joint name="base_to_dummy" type="fixed">
+    <parent link="dummy_link"/>
+    <child link="base_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <link
+    name="base_link">
+    <inertial>
+      <origin 
+        xyz="-0.00473641164191482 2.56829134630247E-05 0.041451518036016" 
+        rpy="0 0 0" />
+      <mass 
+        value="1.02" />
+      <inertia 
+        ixx="0.00267433" 
+        ixy="-0.00000073" 
+        ixz="-0.00017389" 
+        iyy="0.00282612" 
+        iyz="0.0000004" 
+        izz="0.00089624" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <link
+    name="link1">
+    <inertial>
+      <origin 
+        xyz="0.000121504734057468 0.000104632162460536 -0.00438597309559853" 
+        rpy="0 0 0" />
+      <mass 
+        value="0.71" />
+      <inertia 
+        ixx="0.00048916" 
+        ixy="-0.00000036" 
+        ixz="-0.00000224" 
+        iyy="0.00040472" 
+        iyz="-0.00000242" 
+        izz="0.00043982" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.123"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.618"
+      upper="2.618"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link2">
+    <inertial>
+      <origin 
+        xyz="0.198666145229743 -0.010926924140076 0.00142121714502687" 
+        rpy="0 0 0" />
+      <mass 
+        value="1.17" />
+      <inertia 
+        ixx="0.00116918" 
+        ixy="-0.00180037" 
+        ixz="0.00025146" 
+        iyy="0.06785384" 
+        iyz="-0.00000455" 
+        izz="0.06774489" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -0.1359 -3.1416" />
+      <!-- rpy="1.5708 -0.10095-0.03490659 -3.1416" /> -->
+    <parent
+      link="link1" />
+    <child
+      link="link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3.14"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin 
+        xyz="-0.0202737662122021 -0.133914995944595 -0.000458682652737356" 
+        rpy="0 0 0" />
+      <mass 
+        value="0.5" />
+      <inertia 
+        ixx="0.01361711" 
+        ixy="0.00165794" 
+        ixz="-0.00000048" 
+        iyy="0.00045024" 
+        iyz="-0.00000045" 
+        izz="0.01380322" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint3"
+    type="revolute">
+    <origin
+      xyz="0.28503 0 0"
+      rpy="0 0 -1.7939" />
+      <!-- rpy="0 0 -1.759-0.03490659" /> -->
+    <parent
+      link="link2" />
+    <child
+      link="link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.967"
+      upper="0"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link4">
+    <inertial>
+      <origin 
+        xyz="-9.66635791618542E-05 0.000876064475651083 -0.00496880904640868" 
+        rpy="0 0 0" />
+      <mass 
+        value="0.38" />
+      <inertia 
+        ixx="0.00018501" 
+        ixy="0.00000054" 
+        ixz="0.00000120" 
+        iyy="0.00018965" 
+        iyz="-0.00000841" 
+        izz="0.00015484" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint4"
+    type="revolute">
+    <origin
+      xyz="-0.021984 -0.25075 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link3" />
+    <child
+      link="link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.745"
+      upper="1.745"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link5">
+    <inertial>
+      <origin 
+        xyz="-4.10554118924211E-05 -0.0566486692356075 -0.0037205791677906" 
+        rpy="0 0 0" />
+      <mass 
+        value="0.383" />
+      <inertia 
+        ixx="0.00166169" 
+        ixy="0.00000006" 
+        ixz="-0.00000007" 
+        iyy="0.00018510" 
+        iyz="0.00001026" 
+        izz="0.00164321" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint5"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="link4" />
+    <child
+      link="link5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.22"
+      upper="1.22"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link6">
+    <inertial>
+      <origin 
+        xyz="-8.82590762930069E-05 9.0598378529832E-06 -0.002" 
+        rpy="0 0 0" />
+      <mass 
+        value="0.007" />
+      <inertia 
+        ixx="5.73015540542155E-07" 
+        ixy="-1.98305403089247E-22" 
+        ixz="-7.2791893904596E-23" 
+        iyy="5.73015540542155E-07" 
+        iyz="-3.4146026640245E-24" 
+        izz="1.06738869138926E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint6"
+    type="revolute">
+    <origin
+      xyz="8.8259E-05 -0.091 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link5" />
+    <child
+      link="link6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.0944"
+      upper="2.0944"
+      effort="100"
+      velocity="3" />
+  </joint>
+  <link
+    name="gripper_base">
+    <inertial>
+      <origin
+        xyz="-0.000183807162235591 8.05033155577911E-05 0.0321436689908876"
+        rpy="0 0 0" />
+      <mass
+        value="0.45" />
+      <inertia
+        ixx="0.00092934"
+        ixy="0.00000034"
+        ixz="-0.00000738"
+        iyy="0.00071447"
+        iyz="0.00000005"
+        izz="0.00039442" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/gripper_base.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/gripper_base.STL" />
+      </geometry>
+    </collision>
+  </link> 
+  <joint
+    name="joint6_to_gripper_base"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="link6" />
+    <child
+      link="gripper_base" />
+  </joint>
+  <link
+    name="link7">
+    <inertial>
+      <origin
+        xyz="0.00065123185041968 -0.0491929869131989 0.00972258769184025"
+        rpy="0 0 0" />
+      <mass
+        value="0.025" />
+      <inertia
+        ixx="0.00007371"
+        ixy="-0.00000113"
+        ixz="0.00000021"
+        iyy="0.00000781"
+        iyz="-0.00001372"
+        izz="0.0000747" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link7.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint7"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.1358"
+      rpy="1.5708 0 0" />
+    <parent
+      link="gripper_base" />
+    <child
+      link="link7" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.035"
+      effort="10"
+      velocity="1" />
+  </joint>
+  <link
+    name="link8">
+    <inertial>
+      <origin
+        xyz="0.000651231850419722 -0.0491929869131991 0.00972258769184024"
+        rpy="0 0 0" />
+      <mass
+        value="0.025" />
+      <inertia
+        ixx="0.00007371"
+        ixy="-0.00000113"
+        ixz="0.00000021"
+        iyy="0.00000781"
+        iyz="-0.00001372"
+        izz="0.0000747" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link8.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link8.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint8"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.1358"
+      rpy="1.5708 0 -3.1416" />
+    <parent
+      link="gripper_base" />
+    <child
+      link="link8" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.035"
+      upper="0"
+      effort="10"
+      velocity="1" />
+  </joint>
+</robot>

piper/piper.yaml

@@ -0,0 +1,17 @@
+# lerobot/configs/robot/piper.yaml
+
+name: piper
+urdf_path: common/robots/piper/piper.urdf
+base_link: base_link        # update if your URDF’s base link name differs
+end_effector_link: tool0    # update if your URDF’s end-effector link differs
+control_mode: position
+dof: 6
+joint_names:
+  # Must match the joint names used by PiperRobot:
+  # If your URDF has joints named "joint1", "joint2", etc., list them here.
+  - joint1
+  - joint2
+  - joint3
+  - joint4
+  - joint5
+  - joint6

py_teleop_data_collect.py

@@ -0,0 +1,215 @@
+#!/usr/bin/env python3
+# -*- coding:utf8 -*-
+
+import os
+import sys
+import time
+import math
+import csv
+import datetime
+
+import pygame
+import cv2
+import numpy as np
+import pyrealsense2 as rs
+
+from piper_sdk import C_PiperInterface_V2
+
+# Workspace bounds and fixed orientation
+X_MIN, X_MAX = 200000, 500000
+Y_MIN, Y_MAX = -100000, 200000
+Z_MIN, Z_MAX = 140000, 250000
+FIXED_RX = 177756
+FIXED_RY = 6035
+FIXED_RZ = -158440
+ROTATION_RANGE = 50000  # ± rotation offset around Z
+GRIP_OPEN, GRIP_CLOSE = 80000, 0
+HEARTBEAT_CMD_1, HEARTBEAT_CMD_2 = 0x01, 0x02
+HEARTBEAT_SPEED = 70
+HEARTBEAT_FLAG = 0x00
+LOOP_HZ = 30
+DELAY_S = 0.01
+
+# Key to end episode and exit
+END_EPISODE_KEY = pygame.K_p
+
+
+def enable_fun(piper: C_PiperInterface_V2, timeout: float = 5.0):
+    """
+    Enable all six motors and the gripper.
+    Exits on timeout if not all drivers report enabled.
+    """
+    start_time = time.time()
+    while True:
+        piper.EnableArm(7)
+        piper.GripperCtrl(GRIP_OPEN, 1000, 0x01, 0)
+        info = piper.GetArmLowSpdInfoMsgs()
+        flags = [
+            info.motor_1.foc_status.driver_enable_status,
+            info.motor_2.foc_status.driver_enable_status,
+            info.motor_3.foc_status.driver_enable_status,
+            info.motor_4.foc_status.driver_enable_status,
+            info.motor_5.foc_status.driver_enable_status,
+            info.motor_6.foc_status.driver_enable_status,
+        ]
+        print("Motor enabled states:", all(flags))
+        if all(flags):
+            print("Piper online ✅")
+            return
+        if time.time() - start_time > timeout:
+            print(f"Enable timeout after {timeout} seconds. Exiting.")
+            sys.exit(1)
+        time.sleep(1)
+
+
+if __name__ == "__main__":
+    # Initialize Piper
+    piper = C_PiperInterface_V2("can0")
+    piper.ConnectPort()
+    enable_fun(piper)
+
+    # Initial gripper open, heartbeat + center pose
+    piper.GripperCtrl(GRIP_OPEN, 1000, 0x01, 0)
+    piper.MotionCtrl_2(HEARTBEAT_CMD_1, HEARTBEAT_CMD_2, HEARTBEAT_SPEED, HEARTBEAT_FLAG)
+    init_x = (X_MIN + X_MAX) // 2
+    init_y = (Y_MIN + Y_MAX) // 2
+    init_z = (Z_MIN + Z_MAX) // 2
+    piper.EndPoseCtrl(init_x, init_y, init_z, FIXED_RX, FIXED_RY, FIXED_RZ)
+    time.sleep(DELAY_S)
+
+    # Setup data directories for this episode
+    episode_id = datetime.datetime.now().strftime('%Y%m%d_%H%M%S')
+    base_dir = os.path.join('data', episode_id)
+    color_dir = os.path.join(base_dir, 'color')
+    depth_dir = os.path.join(base_dir, 'depth')
+    cam_dir = os.path.join(base_dir, 'webcam')
+    os.makedirs(color_dir, exist_ok=True)
+    os.makedirs(depth_dir, exist_ok=True)
+    os.makedirs(cam_dir, exist_ok=True)
+
+    # Open CSV for logging
+    csv_path = os.path.join(base_dir, 'data.csv')
+    csv_file = open(csv_path, mode='w', newline='')
+    writer = csv.writer(csv_file)
+    headers = [
+        'timestamp',
+        'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6',
+        'x', 'y', 'z', 'rx', 'ry', 'rz', 'grip',
+        'color_image', 'depth_image', 'webcam_image'
+    ]
+    writer.writerow(headers)
+
+    # Initialize cameras
+    rs_pipeline = rs.pipeline()
+    rs_config = rs.config()
+    rs_config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
+    rs_config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
+    rs_pipeline.start(rs_config)
+
+    cap = cv2.VideoCapture(10)
+    if not cap.isOpened():
+        print("Camera 8 failed to open.")
+    else:
+        print("Camera 8 opened successfully.")
+
+    # Initialize Pygame & controller
+    pygame.init()
+    pygame.joystick.init()
+    screen = pygame.display.set_mode((100, 100))
+    if pygame.joystick.get_count() == 0:
+        print("No joystick detected.")
+        sys.exit(1)
+    joystick = pygame.joystick.Joystick(0)
+    joystick.init()
+    print(f"Detected controller: {joystick.get_name()}")
+    clock = pygame.time.Clock()
+
+    try:
+        while True:
+            for event in pygame.event.get():
+                if event.type == pygame.QUIT:
+                    raise KeyboardInterrupt
+                if event.type == pygame.KEYDOWN and event.key == END_EPISODE_KEY:
+                    print("Ending episode and exiting script.")
+                    sys.exit(0)
+
+            # Read inputs
+            raw_ly = joystick.get_axis(0)
+            raw_lx = joystick.get_axis(1)
+            raw_lt = joystick.get_axis(2)
+            raw_rx = joystick.get_axis(3)
+            raw_rt = joystick.get_axis(5)
+
+            # Map to workspace
+            mapped_x = int(X_MIN + (raw_lx + 1) * 0.5 * (X_MAX - X_MIN))
+            mapped_y = int(Y_MIN + (raw_ly + 1) * 0.5 * (Y_MAX - Y_MIN))
+            mapped_z = int(Z_MIN + (1 - (raw_lt + 1) * 0.5) * (Z_MAX - Z_MIN))
+            mapped_rz = int(FIXED_RZ + raw_rx * ROTATION_RANGE)
+            grip_val = int(GRIP_OPEN + (raw_rt + 1) * 0.5 * (GRIP_CLOSE - GRIP_OPEN))
+
+            # Send commands
+            piper.MotionCtrl_2(HEARTBEAT_CMD_1, HEARTBEAT_CMD_2, HEARTBEAT_SPEED, HEARTBEAT_FLAG)
+            piper.EndPoseCtrl(mapped_x, mapped_y, mapped_z, FIXED_RX, FIXED_RY, mapped_rz)
+            piper.GripperCtrl(grip_val, 1000, 0x01, 0)
+
+            # Timestamp
+            ts = datetime.datetime.now().strftime('%Y%m%d_%H%M%S_%f')
+
+            # Read joints
+            high_info = piper.GetArmHighSpdInfoMsgs()
+            try:
+                joints = [
+                    getattr(high_info, f"motor_{i}").mechanical_angle
+                    for i in range(1, 7)
+                ]
+            except Exception:
+                joints = [None] * 6
+
+            # Capture frames
+            frames = rs_pipeline.wait_for_frames()
+            color_frame = frames.get_color_frame()
+            depth_frame = frames.get_depth_frame()
+            color_image = np.asanyarray(color_frame.get_data())
+            depth_image = np.asanyarray(depth_frame.get_data())
+
+            ret_cam, cam_image = cap.read()
+            print("ret_cam:", ret_cam)
+            if cam_image is not None:
+                print("cam_image shape:", cam_image.shape)
+                cv2.imwrite("test_cam_output.png", cam_image)
+            else:
+                print("Camera frame is None")
+
+            # Save images
+            color_path = os.path.join(color_dir, f"color_{ts}.png")
+            depth_path = os.path.join(depth_dir, f"depth_{ts}.png")
+            cam_path = os.path.join(cam_dir, f"cam_{ts}.png")
+            cv2.imwrite(color_path, color_image)
+            cv2.imwrite(depth_path, depth_image)
+            if ret_cam:
+                cv2.imwrite(cam_path, cam_image)
+            else:
+                cam_path = ''
+
+            # Log data
+            row = [ts] + joints + [mapped_x, mapped_y, mapped_z,
+                                     FIXED_RX, FIXED_RY, mapped_rz,
+                                     grip_val,
+                                     color_path, depth_path, cam_path]
+            writer.writerow(row)
+            csv_file.flush()
+
+            # Feedback & throttle
+            print(f"{ts} | X:{mapped_x} Y:{mapped_y} Z:{mapped_z} RZ:{mapped_rz} Grip:{grip_val}")
+            clock.tick(LOOP_HZ)
+            time.sleep(DELAY_S)
+
+    except KeyboardInterrupt:
+        print("Interrupted by user, exiting.")
+
+    finally:
+        # Cleanup
+        csv_file.close()
+        rs_pipeline.stop()
+        cap.release()
+        pygame.quit()