fix: fixed missing conda imports and README

Author: mark-neuracore

README.md

@@ -41,7 +41,9 @@ conda activate piper-teleop
 
 ### 3. Clone and Install Meta Quest Teleop Package
 
-Clone the Meta Quest teleoperation repository inside this example directory and install it:
+Clone the Meta Quest teleoperation repository and install it:
+
+**NOTE**: Make sure you're installing it inside the `piper-teleop` conda environment.
 
 ```bash
 git clone https://github.com/NeuracoreAI/meta_quest_teleop.git
@@ -73,6 +75,8 @@ AgileX Piper Robot
 
 ## Usage
 
+**IMPORTANT NOTE:** Make sure that you have followed the instructions to set up the meta quest (according to [meta_quest_teleop](https://github.com/NeuracoreAI/meta_quest_teleop) README instructions) and that your equipment are functioning before starting the examples. Same applies to the piper robot! 
+
 ### 1. Tune Teleoperation Parameters
 
 **Script**: `examples/1_tune_teleop_params.py`
@@ -241,10 +245,6 @@ example_agilex/
 
 ## Troubleshooting
 
-### Python 3.10 issues
-
-Python 3.10 has known compatibility issues with some dependencies (e.g. certain versions of NumPy, PyTorch, or other packages). If you run into import errors, version conflicts, or odd runtime behaviour, try using Python 3.11 or 3.12 instead.
-
 ### Import Errors
 
 - Ensure conda environment is activated: `conda activate piper-teleop`
@@ -255,20 +255,22 @@ Python 3.10 has known compatibility issues with some dependencies (e.g. certain
   cd meta_quest_teleop
   pip install -e .
   cd ..
+  pip show meta_quest_teleop
   ```
 
 ### Robot Communication Issues
 
 - Verify CAN interface is active: `ip link show can0`
 - You can activate CAN interface with: `bash scripts/piper/can_activate.sh can0 1000000`
+- **NOTE:** you'll most probably need to activate the CAN interface when you first connect your robot  to your machine.
 - Check robot power and CAN bus connection
 - Ensure robot is in the correct mode for control
 
 ### Neuracore Connection Issues
 
 - Verify you're logged in: `neuracore login`
 - Check network connectivity to Neuracore servers
-- Verify dataset/run names are correct
+- Verify dataset names/run names/model paths are correct
 
 ## Safety Notes
 

environment.yaml

@@ -17,6 +17,7 @@ dependencies:
       - matplotlib
       - neuracore
       - neuracore_types
+      - pyrealsense2
 
 
 

examples/1_tune_teleop_params.py

@@ -20,10 +20,6 @@
 # Add parent directory to path to import pink_ik_solver and piper_controller
 sys.path.insert(0, str(Path(__file__).parent.parent))
 
-# Add meta_quest_teleop to path
-sys.path.insert(0, str(Path(__file__).parent.parent / "meta_quest_teleop"))
-
-
 from common.configs import (
     CAMERA_FRAME_STREAMING_RATE,
     CONTROLLER_BETA,

examples/2_collect_teleop_data_with_neuracore.py

@@ -22,10 +22,6 @@
 # Add parent directory to path to import pink_ik_solver and piper_controller
 sys.path.insert(0, str(Path(__file__).parent.parent))
 
-# Add meta_quest_teleop to path
-sys.path.insert(0, str(Path(__file__).parent.parent / "meta_quest_teleop"))
-
-
 from common.configs import (
     CAMERA_FRAME_STREAMING_RATE,
     CONTROLLER_BETA,

examples/4_rollout_neuracore_policy.py

@@ -24,9 +24,6 @@
 # Add parent directory to path to import pink_ik_solver and piper_controller
 sys.path.insert(0, str(Path(__file__).parent.parent))
 
-# Add meta_quest_teleop to path
-sys.path.insert(0, str(Path(__file__).parent.parent / "meta_quest_teleop"))
-
 from common.configs import (
     CAMERA_FRAME_STREAMING_RATE,
     CAMERA_LOGGING_NAME,
@@ -844,15 +841,12 @@ def update_visualization(
     )
     visualizer.set_go_home_callback(lambda: home_robot(data_manager, robot_controller))
     visualizer.set_run_policy_callback(
-        lambda: (
-            run_policy(
-                data_manager, policy, policy_state, visualizer, model_input_order
-            ),
-            None,
-        )[1]
+        lambda: run_policy(
+            data_manager, policy, policy_state, visualizer, model_input_order
+        )
     )
     visualizer.set_start_policy_execution_callback(
-        lambda: (start_policy_execution(data_manager, policy_state), None)[1]
+        lambda: start_policy_execution(data_manager, policy_state)
     )
     visualizer.set_run_and_start_policy_execution_callback(
         lambda: run_and_start_policy_execution(

examples/common/robot_visualizer.py

@@ -168,7 +168,7 @@ def update_toggle_robot_enabled_status(self, enabled: bool) -> None:
             )
 
     def set_toggle_robot_enabled_status_callback(
-        self, callback: Callable[[], None]
+        self, callback: Callable[[], Any]
     ) -> None:
         """Set callback for toggle robot enabled status button.
 
@@ -723,7 +723,7 @@ def get_ghost_robot_visibility(self) -> bool:
             return self._ghost_robot_urdf.show_visual
         return False
 
-    def set_run_policy_callback(self, callback: Callable[[], None]) -> None:
+    def set_run_policy_callback(self, callback: Callable[[], Any]) -> None:
         """Set callback for Run Policy button.
 
         Args:
@@ -732,7 +732,7 @@ def set_run_policy_callback(self, callback: Callable[[], None]) -> None:
         if self._run_policy_button is not None:
             self._run_policy_button.on_click(lambda _: callback())
 
-    def set_start_policy_execution_callback(self, callback: Callable[[], None]) -> None:
+    def set_start_policy_execution_callback(self, callback: Callable[[], Any]) -> None:
         """Set callback for Execute Policy button.
 
         Args:
@@ -742,7 +742,7 @@ def set_start_policy_execution_callback(self, callback: Callable[[], None]) -> N
             self._start_policy_execution_button.on_click(lambda _: callback())
 
     def set_run_and_start_policy_execution_callback(
-        self, callback: Callable[[], None]
+        self, callback: Callable[[], Any]
     ) -> None:
         """Set callback for Run and Execute Policy button.
 
@@ -752,7 +752,7 @@ def set_run_and_start_policy_execution_callback(
         if self._run_and_start_policy_execution_button is not None:
             self._run_and_start_policy_execution_button.on_click(lambda _: callback())
 
-    def set_play_policy_callback(self, callback: Callable[[], None]) -> None:
+    def set_play_policy_callback(self, callback: Callable[[], Any]) -> None:
         """Set callback for Play Policy button.
 
         Args:
@@ -761,7 +761,7 @@ def set_play_policy_callback(self, callback: Callable[[], None]) -> None:
         if self._play_policy_button is not None:
             self._play_policy_button.on_click(lambda _: callback())
 
-    def set_execution_mode_callback(self, callback: Callable[[], None]) -> None:
+    def set_execution_mode_callback(self, callback: Callable[[], Any]) -> None:
         """Set callback for execution mode dropdown.
 
         Args:
@@ -770,7 +770,7 @@ def set_execution_mode_callback(self, callback: Callable[[], None]) -> None:
         if self._execution_mode_dropdown is not None:
             self._execution_mode_dropdown.on_update(lambda _: callback())
 
-    def set_enable_robot_callback(self, callback: Callable[[], None]) -> None:
+    def set_enable_robot_callback(self, callback: Callable[[], Any]) -> None:
         """Set callback for Enable Robot button.
 
         Args:
@@ -779,7 +779,7 @@ def set_enable_robot_callback(self, callback: Callable[[], None]) -> None:
         if self._enable_robot_handle is not None:
             self._enable_robot_handle.on_click(lambda _: callback())
 
-    def set_disable_robot_callback(self, callback: Callable[[], None]) -> None:
+    def set_disable_robot_callback(self, callback: Callable[[], Any]) -> None:
         """Set callback for Disable Robot button.
 
         Args:
@@ -788,7 +788,7 @@ def set_disable_robot_callback(self, callback: Callable[[], None]) -> None:
         if self._disable_robot_handle is not None:
             self._disable_robot_handle.on_click(lambda _: callback())
 
-    def set_emergency_stop_callback(self, callback: Callable[[], None]) -> None:
+    def set_emergency_stop_callback(self, callback: Callable[[], Any]) -> None:
         """Set callback for Emergency Stop button.
 
         Args:
@@ -797,7 +797,7 @@ def set_emergency_stop_callback(self, callback: Callable[[], None]) -> None:
         if self._emergency_stop_handle is not None:
             self._emergency_stop_handle.on_click(lambda _: callback())
 
-    def set_go_home_callback(self, callback: Callable[[], None]) -> None:
+    def set_go_home_callback(self, callback: Callable[[], Any]) -> None:
         """Set callback for Go Home button.
 
         Args:

examples/common/threads/quest_reader.py

@@ -1,12 +1,8 @@
 """Quest reader thread - reads controller data and manages teleop state."""
 
-import sys
 import time
 import traceback
-from pathlib import Path
 
-# Add meta_quest_teleop to path
-sys.path.insert(0, str(Path(__file__).parent.parent / "meta_quest_teleop"))
 from common.configs import CONTROLLER_DATA_RATE, GRIP_THRESHOLD
 from common.data_manager import DataManager, RobotActivityState
 from meta_quest_teleop.reader import MetaQuestReader

scripts/oculus/monitor_hand_movement.py

@@ -1,17 +1,12 @@
 #!/usr/bin/env python3
 """Monitor Meta Quest right hand controller movement and display flags for significant changes."""
 
-import sys
 import time
 from collections import deque
-from pathlib import Path
 
 import numpy as np
-from scipy.spatial.transform import Rotation
-
-sys.path.insert(0, str(Path(__file__).parent.parent.parent / "meta_quest_teleop"))
-
 from meta_quest_teleop.reader import MetaQuestReader
+from scipy.spatial.transform import Rotation
 
 
 class MovementMonitor: