fa-py-libraries¶

Python utilities umbrella for FiveAges Sim.

Repository: fiveages-sim/fa-py-libraries

Purpose¶

Aggregates Python utilities:

ros2_robot_interface
ros2-viser (Viser 3D visualization)
VR pose publisher

Default env is Python 3.12 (./init.sh env 3.12). This is also the primary launcher for Viser (./run.sh viser).

Installation¶

git clone https://github.com/fiveages-sim/fa-py-libraries.git
cd fa-py-libraries
./init.sh all

What ./init.sh all does: initialize submodules, create a Python 3.12 env (from .fa-env.toml backend: uv or conda), then install ros2_robot_interface, ros2-viser, and vr_pose_publisher.

Switch backend with ./init.sh set-backend uv. Personal overrides: .fa-env.local.toml.

Usage¶

Direct Commands¶

Commands from the fa-py-libraries README:

Command	What it does
`./run.sh viser`	ros2-viser (primary Viser entry)
`./run.sh vr`	vr_pose_publisher (Vuer/WebXR)
`./run.sh vr-xrt`	vr_pose_publisher (XRoboToolkit SDK)
`./run.sh vr-xrt-service`	start XRoboToolkit PC Service (`stop` to shut down)
`./run.sh vr-record`	record `/teleop/*` bags
`./run.sh record` / `playback`	interface joint snapshot JSON

Pico Enterprise vs consumer

Headset SKU notes live on VR Teleop: Pico Enterprise supports USB shared networking (USB 网络共享) and uses a different App from Pico consumer. This page only lists fa-py-libraries README commands (./run.sh vr vs ./run.sh vr-xrt + PC Service). It does not name store listings, package names, or ADB steps.

Structure¶

fa-py-libraries/
├── init.sh
├── run.sh
├── release.sh
├── .fa-env.toml
├── scripts/                 # fa-env.sh, vr-bag.sh
├── ros2_robot_interface/
├── ros2_viser/
└── vr_pose_publisher/

Subpackages¶

Package	Purpose
ros2_robot_interface	Robot control API
ros2_viser	Viser library (start with `./run.sh viser`)
vr_pose_publisher	VR tracking bridge