feat: moved to neuracore ndd

.pre-commit-config.yaml

@@ -1,6 +1,10 @@
 default_install_hook_types: [pre-commit]
 default_stages: [pre-commit]
 
+default_language_version:
+  python: python3
+  node: "20.18.0"  # cspell requires >=20.18; full version needed for nodeenv prebuilt download
+
 repos:
   - repo: https://github.com/pycqa/isort
     rev: 7.0.0

examples/2_collect_teleop_data_with_neuracore.py

@@ -12,9 +12,7 @@
 import threading
 import time
 import traceback
-from multiprocessing import Process, Queue
 from pathlib import Path
-from queue import Empty
 
 import neuracore as nc
 import numpy as np
@@ -55,134 +53,39 @@
 from pink_ik_solver import PinkIKSolver
 from piper_controller import PiperController
 
-NUM_LOGGING_WORKERS = 1  # Number of worker processes for logging
-PROCESSES_LOGGING_FREQUENCY = 1000  # Hz
 
-
-def neuracore_logging_worker(queue: Queue, worker_id: int) -> None:
-    """Worker process that logs data to Neuracore from the queue.
-
-    Args:
-        queue: Multiprocessing queue containing logging tasks
-        worker_id: Worker process identifier
-    """
-    # Initialize Neuracore connection in this worker process
+def log_to_neuracore_on_change_callback(
+    name: str, value: float, timestamp: float
+) -> None:
+    """Log data to queue on change callback."""
+    # Call appropriate Neuracore logging function
     try:
-        nc.login()
-        nc.connect_robot(
-            robot_name="AgileX PiPER",
-            urdf_path=str(URDF_PATH),
-            instance=worker_id,
-            overwrite=False,
-        )
+        if name == "log_joint_positions":
+            data_value = np.radians(value)
+            data_dict = {
+                joint_name: angle for joint_name, angle in zip(JOINT_NAMES, data_value)
+            }
+            nc.log_joint_positions(data_dict, timestamp=timestamp)
+        elif name == "log_joint_target_positions":
+            data_value = np.radians(value)
+            data_dict = {
+                joint_name: angle for joint_name, angle in zip(JOINT_NAMES, data_value)
+            }
+            nc.log_joint_target_positions(data_dict, timestamp=timestamp)
+        elif name == "log_parallel_gripper_open_amounts":
+            data_dict = {GRIPPER_LOGGING_NAME: value}
+            nc.log_parallel_gripper_open_amounts(data_dict, timestamp=timestamp)
+        elif name == "log_parallel_gripper_target_open_amounts":
+            data_dict = {GRIPPER_LOGGING_NAME: value}
+            nc.log_parallel_gripper_target_open_amounts(data_dict, timestamp=timestamp)
+        elif name == "log_rgb":
+            camera_name = "rgb"
+            image_array = value
+            nc.log_rgb(camera_name, image_array, timestamp=timestamp)
+        else:
+            print(f"\n⚠️  Unknown logging function: {name}")
     except Exception as e:
-        print(f"\n⚠️  Worker {worker_id} failed to login to Neuracore: {e}")
-        return
-
-    print(f"\n👷 Logging worker process {worker_id} started")
-
-    while True:
-        try:
-            start_time = time.time()
-            # Get task from queue (blocking with timeout to allow periodic checks)
-            task = queue.get(timeout=1.0)
-
-            # Check for shutdown
-            if task is None:
-                print(
-                    f"\n👷 Logging worker process {worker_id} received shutdown signal"
-                )
-                break
-
-            # Unpack task: (function_name, args_tuple, timestamp)
-            function_name, data_value, timestamp = task
-
-            # Call appropriate Neuracore logging function
-            try:
-                if function_name == "log_joint_positions":
-                    data_value = np.radians(data_value)
-                    data_dict = {
-                        joint_name: angle
-                        for joint_name, angle in zip(JOINT_NAMES, data_value)
-                    }
-                    nc.log_joint_positions(data_dict, timestamp=timestamp)
-                elif function_name == "log_joint_target_positions":
-                    data_value = np.radians(data_value)
-                    data_dict = {
-                        joint_name: angle
-                        for joint_name, angle in zip(JOINT_NAMES, data_value)
-                    }
-                    nc.log_joint_target_positions(data_dict, timestamp=timestamp)
-                elif function_name == "log_parallel_gripper_open_amounts":
-                    data_dict = {GRIPPER_LOGGING_NAME: data_value}
-                    nc.log_parallel_gripper_open_amounts(data_dict, timestamp=timestamp)
-                elif function_name == "log_parallel_gripper_target_open_amounts":
-                    data_dict = {GRIPPER_LOGGING_NAME: data_value}
-                    nc.log_parallel_gripper_target_open_amounts(
-                        data_dict, timestamp=timestamp
-                    )
-                elif function_name == "log_rgb":
-                    camera_name = "rgb"
-                    image_array = data_value
-                    nc.log_rgb(camera_name, image_array, timestamp=timestamp)
-                else:
-                    print(f"\n⚠️  Unknown logging function: {function_name}")
-            except Exception as e:
-                print(f"\n⚠️  Failed to log {function_name} to Neuracore: {e}")
-
-            # Sleep to maintain loop rate
-            elapsed = time.time() - start_time
-            sleep_time = 1.0 / PROCESSES_LOGGING_FREQUENCY - elapsed
-            time.sleep(max(0, sleep_time))
-
-        except Empty:
-            continue  # Timeout
-        except KeyboardInterrupt:
-            print(
-                f"\n🔴 Logging worker process {worker_id} interrupted, shutting down!"
-            )
-            break
-        except Exception as e:
-            print(f"\n❌ Logging worker {worker_id} error: {e}")
-
-
-def shutdown_logging_workers(logging_queue: Queue, logging_workers: list) -> None:
-    """Gracefully shut down logging worker processes and their queue."""
-    print("\n📝 Shutting down logging workers...")
-    if logging_queue is not None and logging_workers:
-        # Send shutdown sentinel to each worker
-        for _ in logging_workers:
-            logging_queue.put(None, timeout=1.0)
-        # Wait for workers to finish
-        for i, worker in enumerate(logging_workers, 1):
-            worker.join(timeout=2.0)
-            if worker.is_alive():
-                worker.terminate()
-                worker.join(timeout=1.0)
-            print(f"  ✓ Worker {i} shut down")
-        # Close the queue
-        logging_queue.close()
-
-        # Join thread in background to prevent atexit hang
-        def join_queue() -> None:
-            """Join queue thread."""
-            try:
-                logging_queue.join_thread()
-            except Exception:
-                pass
-
-        threading.Thread(target=join_queue, daemon=True).start()
-
-
-def log_to_queue_on_change_callback(name: str, value: float, timestamp: float) -> None:
-    """Log data to queue on change callback."""
-    logging_queue.put(
-        (
-            name,
-            value,
-            timestamp,
-        )
-    )
+        print(f"\n⚠️  Failed to call {name} to Neuracore: {e}")
 
 
 def on_button_a_pressed() -> None:
@@ -288,21 +191,9 @@ def on_button_rj_pressed() -> None:
         description="Teleop data collection for Piper robot",
     )
 
-    # Initialize logging queue and worker pool
-    print("\n📝 Initializing Neuracore logging queue and worker pool...")
-    logging_queue: Queue = Queue()
-    logging_workers = []
-
-    # Start worker processes
-    for i in range(NUM_LOGGING_WORKERS):
-        worker = Process(target=neuracore_logging_worker, args=(logging_queue, i))
-        worker.start()
-        logging_workers.append(worker)
-        time.sleep(0.1)
-
     # Initialize shared state
     data_manager = DataManager()
-    data_manager.set_on_change_callback(log_to_queue_on_change_callback)
+    data_manager.set_on_change_callback(log_to_neuracore_on_change_callback)
     data_manager.set_controller_filter_params(
         CONTROLLER_MIN_CUTOFF,
         CONTROLLER_BETA,
@@ -434,6 +325,4 @@ def on_button_rj_pressed() -> None:
     camera_thread_obj.join()
     robot_controller.cleanup()
 
-    shutdown_logging_workers(logging_queue, logging_workers)
-
     print("\n👋 Demo stopped.")

examples/common/configs.py

@@ -35,7 +35,7 @@
 
 # Thread rates (Hz)
 CONTROLLER_DATA_RATE = 50.0  # Controller input reading
-IK_SOLVER_RATE = 500.0  # IK solving and robot commands
+IK_SOLVER_RATE = 250.0  # IK solving and robot commands
 VISUALIZATION_RATE = 60.0  # GUI updates
 ROBOT_RATE = 100.0