Add O6 somehand hand-pose support

Author: BotRunner64

AGENTS.md

@@ -155,8 +155,8 @@ target_dof_pos = clip(action, -10, 10) × action_scale + default_dof_pos
 - `gripper` mode reuses `Pico4InputProvider.get_controller_snapshot()` for Pico grip/trigger open-close control and supports LinkerHand L6 and O6
 - `vr_hand_pose` mode reuses `Pico4InputProvider.get_hand_snapshot()` and somehand 0.2.0 public `somehand.api` for continuous Pico hand-pose retargeting; do not start a second `PicoBridge` for hand control
 - Teleopit owns Pico 26-joint hand-state to 21-landmark conversion; do not import `somehand.pico_input`
-- LinkerHand O6 supports only `hands.mode=gripper`; its default `close_pose` is `[86, 73, 118, 111, 110, 111]`
-- L6 `gripper` mode uses the configured `hands.linkerhand_l6.speed` (default `[50]*6`); O6 `gripper` mode uses `hands.linkerhand_o6.speed` (default `[255]*6`); `vr_hand_pose` always sets LinkerHand L6 speed to `[255]*6`
+- LinkerHand O6 supports `hands.mode=gripper|vr_hand_pose`; its default `close_pose` is `[86, 73, 118, 111, 110, 111]`
+- L6 `gripper` mode uses the configured `hands.linkerhand_l6.speed` (default `[50]*6`); O6 `gripper` mode uses `hands.linkerhand_o6.speed` (default `[255]*6`); `vr_hand_pose` always sets LinkerHand L6/O6 speed to `[255]*6`
 - `vr_hand_pose` defaults to a low-latency somehand path: `hands.somehand.rate_hz=60`, `max_iterations=12`, `temporal_filter_alpha=1.0`, and `output_alpha=1.0`; this prioritizes response speed over smoothing
 - LinkerHand control is active in all sim2real modes when `hands.enabled=true`; shutdown and hand-runtime failure must send the configured open pose
 - In `vr_hand_pose` mode, missing/inactive hand pose holds the last commanded pose for that side instead of opening the hand

README.md

@@ -134,7 +134,7 @@ Full docs at **[BotRunner64.github.io/Teleopit](https://BotRunner64.github.io/Te
 ### v0.4.0 (2026-06-25)
 
 - Improved Pico realtime control with pico-bridge 0.2.1, `ARMS` mode, armed sim2real mocap entry, and retargeter-preserving pause/arms resets.
-- Added optional LinkerHand L6/O6 sim2real control, including Pico gripper input and low-latency L6 `vr_hand_pose`.
+- Added optional LinkerHand L6/O6 sim2real control, including Pico gripper input and low-latency L6/O6 `vr_hand_pose`.
 - Added manual Pico sim2real HDF5 recording and an interactive Pico motion recorder for training NPZ clips.
 - Refined the training data path with minimal HDF5 shards, explicit precompute, rewind sampling, and updated tracking rewards.
 

docs/docs/configuration/config-reference.md

@@ -128,9 +128,10 @@ installs of `third_party/linkerhand-python-sdk` and `third_party/somehand`.
 When enabled, hand control remains active in all sim2real modes.
 `gripper` supports `linkerhand_l6` and `linkerhand_o6` by interpolating Pico
 trigger input between the configured open and close poses. `vr_hand_pose` is
-L6-only: missing hand pose holds the last command for that side, L6 speed is
-set to the maximum, and Teleopit converts Pico hand state to 21 landmarks before
-calling somehand 0.2.0 through `somehand.api` only.
+supported by `linkerhand_l6` and `linkerhand_o6`: missing hand pose holds the
+last command for that side, the selected hand speed is set to the maximum, and
+Teleopit converts Pico hand state to 21 landmarks before calling somehand 0.2.0
+through `somehand.api` only.
 
 | Field | Description | Default |
 |-------|-------------|---------|
@@ -144,9 +145,10 @@ calling somehand 0.2.0 through `somehand.api` only.
 | `hands.linkerhand_l6.speed` | L6 speed used by `gripper`; `vr_hand_pose` overrides this to maximum speed | see config |
 | `hands.linkerhand_l6.open_pose` / `close_pose` | Six-value L6 open/closed poses | see config |
 | `hands.linkerhand_o6.left_can` / `right_can` | CAN channels for each O6 hand | `can0` / `can1` |
-| `hands.linkerhand_o6.speed` | O6 speed used by `gripper` | see config |
+| `hands.linkerhand_o6.speed` | O6 speed used by `gripper`; `vr_hand_pose` overrides this to maximum speed | see config |
 | `hands.linkerhand_o6.open_pose` / `close_pose` | Six-value O6 open/closed poses | see config |
-| `hands.somehand.config_path` | Official somehand 0.2.0 bi-hand L6 config used by `vr_hand_pose` | see config |
+| `hands.somehand.l6_config_path` | Official somehand 0.2.0 bi-hand L6 config used by L6 `vr_hand_pose` | see config |
+| `hands.somehand.o6_config_path` | Official somehand 0.2.0 bi-hand O6 config used by O6 `vr_hand_pose` | see config |
 | `hands.somehand.rate_hz` | Low-latency `vr_hand_pose` command rate in Hz | `60.0` |
 | `hands.somehand.max_iterations` | somehand solver iteration cap for `vr_hand_pose` | `12` |
 | `hands.somehand.temporal_filter_alpha` | somehand input landmark smoothing alpha; `1.0` disables smoothing delay | `1.0` |

docs/docs/getting-started/installation.md

@@ -68,7 +68,7 @@ Install those packages directly after initializing the submodules:
 git submodule update --init --recursive
 pip install -e third_party/linkerhand-python-sdk
 pip install -e third_party/somehand
-scripts/setup/download_somehand_l6_assets.sh
+scripts/setup/download_somehand_assets.sh
 ```
 
 These packages are only required when `hands.enabled=true`.

docs/docs/tutorials/pico-sim2real.md

@@ -183,11 +183,11 @@ Pico sim2real can drive LinkerHand hands from Pico input:
   trigger closes that hand. This mode supports `hands.driver=linkerhand_l6` and
   `hands.driver=linkerhand_o6`; speed and open/close poses come from the matching
   driver config.
-- `vr_hand_pose`: L6-only mode that retargets Pico hand pose through somehand and
-  commands the continuous L6 hand target. If a hand pose disappears, that side
-  keeps its last commanded pose. This mode uses Teleopit's Pico landmark adapter
-  and the public `somehand.api` from somehand 0.2.0. It always sets L6 speed to
-  the maximum.
+- `vr_hand_pose`: retargets Pico hand pose through somehand and commands the
+  continuous L6 or O6 hand target. If a hand pose disappears, that side keeps its
+  last commanded pose. This mode uses Teleopit's Pico landmark adapter and the
+  public `somehand.api` from somehand 0.2.0. It always sets the selected hand
+  speed to the maximum.
 
 When `hands.enabled=true`, hand control remains active in all sim2real modes.
 Shutdown and hand-runtime failure send the configured open pose.
@@ -199,7 +199,7 @@ the main Pico profile:
 git submodule update --init --recursive
 pip install -e third_party/linkerhand-python-sdk
 pip install -e third_party/somehand
-scripts/setup/download_somehand_l6_assets.sh
+scripts/setup/download_somehand_assets.sh
 ```
 
 Bring up the CAN interfaces before testing or running hand control:
@@ -229,7 +229,8 @@ python scripts/dev/test_linkerhand_l6.py \
     --right-can can1
 ```
 
-To test O6 with live Pico gripper input, add `--mode gripper`.
+To test O6 with live Pico gripper input, add `--mode gripper`. To test O6 with
+live Pico hand-pose retargeting, add `--mode vr_hand_pose`.
 
 Then enable L6 gripper control in Pico sim2real:
 
@@ -251,7 +252,7 @@ hands.linkerhand_o6.left_can=can0
 hands.linkerhand_o6.right_can=can1
 ```
 
-For continuous VR hand-pose control, use:
+For continuous L6 VR hand-pose control, use:
 
 ```bash
 hands.enabled=true
@@ -261,6 +262,16 @@ hands.linkerhand_l6.left_can=can0
 hands.linkerhand_l6.right_can=can1
 ```
 
+For continuous O6 VR hand-pose control, switch the driver and CAN keys:
+
+```bash
+hands.enabled=true
+hands.driver=linkerhand_o6
+hands.mode=vr_hand_pose
+hands.linkerhand_o6.left_can=can0
+hands.linkerhand_o6.right_can=can1
+```
+
 ## Optional RealSense Preview
 
 Stream the G1 RealSense color camera back to the Pico headset:

docs/i18n/zh-Hans/docusaurus-plugin-content-docs/current/configuration/config-reference.md

@@ -145,8 +145,9 @@ MuJoCo 窗口显示重定向参考；`sim2sim`、`mocap`、`camera` 和 `all`
 `hands.enabled=true` 要求 `input.provider=pico4`，并以本地 editable 方式安装
 `third_party/linkerhand-python-sdk` 和 `third_party/somehand`。启用后，手控会在所有 sim2real 模式中保持生效。
 `gripper` 支持 `linkerhand_l6` 和 `linkerhand_o6`，会用 Pico trigger 在配置的张开和闭合姿态之间插值。
-`vr_hand_pose` 只支持 L6：手部 pose 消失时，对应侧会保持上一条命令；L6 速度会设为最大值；
-Teleopit 会先将 Pico 手部状态转成 21 个 landmarks，再只通过 somehand 0.2.0 公开的 `somehand.api` 调用。
+`vr_hand_pose` 支持 `linkerhand_l6` 和 `linkerhand_o6`：手部 pose 消失时，对应侧会保持上一条命令；
+所选手的速度会设为最大值；Teleopit 会先将 Pico 手部状态转成 21 个 landmarks，
+再只通过 somehand 0.2.0 公开的 `somehand.api` 调用。
 
 | 字段 | 说明 | 默认值 |
 |---|---|---|
@@ -162,9 +163,10 @@ Teleopit 会先将 Pico 手部状态转成 21 个 landmarks，再只通过 someh
 | `hands.linkerhand_l6.trigger_deadzone` | trigger 两端死区 | `0.05` |
 | `hands.linkerhand_l6.open_pose` / `close_pose` | L6 的 6 维张开/闭合姿态 | 见配置 |
 | `hands.linkerhand_o6.left_can` / `right_can` | 左右 O6 手 CAN 通道 | `can0` / `can1` |
-| `hands.linkerhand_o6.speed` | `gripper` 使用的 O6 速度 | 见配置 |
+| `hands.linkerhand_o6.speed` | `gripper` 使用的 O6 速度；`vr_hand_pose` 会覆盖为最大速度 | 见配置 |
 | `hands.linkerhand_o6.open_pose` / `close_pose` | O6 的 6 维张开/闭合姿态 | 见配置 |
-| `hands.somehand.config_path` | `vr_hand_pose` 使用的 somehand 双手 L6 配置 | 见配置 |
+| `hands.somehand.l6_config_path` | L6 `vr_hand_pose` 使用的 somehand 双手 L6 配置 | 见配置 |
+| `hands.somehand.o6_config_path` | O6 `vr_hand_pose` 使用的 somehand 双手 O6 配置 | 见配置 |
 | `hands.somehand.rate_hz` | 低延时 `vr_hand_pose` 命令频率（Hz） | `60.0` |
 | `hands.somehand.max_iterations` | `vr_hand_pose` 的 somehand solver 迭代上限 | `12` |
 | `hands.somehand.temporal_filter_alpha` | somehand 输入 landmarks 平滑 alpha；`1.0` 表示关闭平滑延时 | `1.0` |

docs/i18n/zh-Hans/docusaurus-plugin-content-docs/current/getting-started/installation.md

@@ -68,7 +68,7 @@ submodule 后，直接安装这些包：
 git submodule update --init --recursive
 pip install -e third_party/linkerhand-python-sdk
 pip install -e third_party/somehand
-scripts/setup/download_somehand_l6_assets.sh
+scripts/setup/download_somehand_assets.sh
 ```
 
 只有在 `hands.enabled=true` 时才需要安装这些包。

docs/i18n/zh-Hans/docusaurus-plugin-content-docs/current/tutorials/pico-sim2real.md

@@ -172,9 +172,9 @@ Pico sim2real 可以用 Pico 输入控制 LinkerHand：
 - `gripper`：按住同侧 grip 作为 deadman，同侧 trigger 控制对应手闭合。
   该模式支持 `hands.driver=linkerhand_l6` 和 `hands.driver=linkerhand_o6`；
   速度和张开/闭合姿态来自对应 driver 配置。
-- `vr_hand_pose`：只支持 L6，通过 somehand 重定向 Pico 手部 pose，并下发连续 L6 手部目标。
+- `vr_hand_pose`：通过 somehand 重定向 Pico 手部 pose，并下发连续 L6 或 O6 手部目标。
   如果某侧手部 pose 消失，该侧会保持上一条手势命令。这个模式使用 Teleopit 的
-  Pico landmark 适配器和 somehand 0.2.0 公开的 `somehand.api`，并始终将 L6
+  Pico landmark 适配器和 somehand 0.2.0 公开的 `somehand.api`，并始终将所选手的
   速度设为最大值。默认配置使用 60 Hz 的低延时 somehand 路径并减少平滑，所以响应会更快，
   但可能比标准 somehand 设置更抖。
 
@@ -186,7 +186,7 @@ Pico sim2real 可以用 Pico 输入控制 LinkerHand：
 git submodule update --init --recursive
 pip install -e third_party/linkerhand-python-sdk
 pip install -e third_party/somehand
-scripts/setup/download_somehand_l6_assets.sh
+scripts/setup/download_somehand_assets.sh
 ```
 
 测试或运行手控前，先开启 CAN 接口：
@@ -215,7 +215,8 @@ python scripts/dev/test_linkerhand_l6.py \
     --right-can can1
 ```
 
-如果要用实时 Pico gripper 输入测试 O6，再加 `--mode gripper`。
+如果要用实时 Pico gripper 输入测试 O6，再加 `--mode gripper`。如果要用实时 Pico
+手部 pose 重定向测试 O6，再加 `--mode vr_hand_pose`。
 
 然后在 Pico sim2real 中启用 L6 gripper 控制：
 
@@ -237,7 +238,7 @@ hands.linkerhand_o6.left_can=can0
 hands.linkerhand_o6.right_can=can1
 ```
 
-连续 VR 手部 pose 控制使用：
+连续 L6 VR 手部 pose 控制使用：
 
 ```bash
 hands.enabled=true
@@ -247,6 +248,16 @@ hands.linkerhand_l6.left_can=can0
 hands.linkerhand_l6.right_can=can1
 ```
 
+连续 O6 VR 手部 pose 控制切换 driver 和 CAN 配置键：
+
+```bash
+hands.enabled=true
+hands.driver=linkerhand_o6
+hands.mode=vr_hand_pose
+hands.linkerhand_o6.left_can=can0
+hands.linkerhand_o6.right_can=can1
+```
+
 ## 可选 RealSense 预览
 
 将 G1 RealSense 彩色相机推送回 Pico 头显：

scripts/dev/test_linkerhand_l6.py

@@ -34,7 +34,8 @@
 O6_OPEN_POSE = [250, 250, 250, 250, 250, 250]
 O6_CLOSE_POSE = [86, 73, 118, 111, 110, 111]
 O6_DEFAULT_SPEED = [255, 255, 255, 255, 255, 255]
-DEFAULT_SOMEHAND_CONFIG_PATH = "third_party/somehand/configs/retargeting/bihand/linkerhand_l6_bihand.yaml"
+DEFAULT_L6_SOMEHAND_CONFIG_PATH = "third_party/somehand/configs/retargeting/bihand/linkerhand_l6_bihand.yaml"
+DEFAULT_O6_SOMEHAND_CONFIG_PATH = "third_party/somehand/configs/retargeting/bihand/linkerhand_o6_bihand.yaml"
 OPEN_CLOSE_HOLD_S = 1.0
 GRIPPER_RATE_HZ = 30.0
 VR_HAND_POSE_RATE_HZ = 60.0
@@ -56,7 +57,7 @@ def parse_args() -> argparse.Namespace:
         "--driver",
         choices=["linkerhand_l6", "linkerhand_o6"],
         default="linkerhand_l6",
-        help="Hand driver to test. O6 currently supports open_close and gripper only.",
+        help="Hand driver to test.",
     )
     parser.add_argument(
         "--mode",
@@ -77,8 +78,6 @@ def parse_args() -> argparse.Namespace:
         help='RS485 serial port such as /dev/ttyUSB0; "None" uses CAN',
     )
     args = parser.parse_args()
-    if args.driver == "linkerhand_o6" and args.mode == "vr_hand_pose":
-        raise SystemExit("hands.driver=linkerhand_o6 supports only --mode open_close or gripper")
     args.speed = list(O6_DEFAULT_SPEED if args.driver == "linkerhand_o6" else DEFAULT_SPEED)
     args.open_pose = list(O6_OPEN_POSE if args.driver == "linkerhand_o6" else OPEN_POSE)
     args.close_pose = list(O6_CLOSE_POSE if args.driver == "linkerhand_o6" else CLOSE_POSE)
@@ -113,7 +112,8 @@ def make_config(args: argparse.Namespace, *, mode: str) -> dict[str, object]:
             "frame_timeout_s": FRAME_TIMEOUT_S,
             driver_section: driver_cfg,
             "somehand": {
-                "config_path": DEFAULT_SOMEHAND_CONFIG_PATH,
+                "l6_config_path": DEFAULT_L6_SOMEHAND_CONFIG_PATH,
+                "o6_config_path": DEFAULT_O6_SOMEHAND_CONFIG_PATH,
                 "rate_hz": VR_HAND_POSE_RATE_HZ,
                 "max_iterations": 12,
                 "temporal_filter_alpha": 1.0,
@@ -260,9 +260,6 @@ def run_gripper(args: argparse.Namespace) -> None:
 
 
 def run_vr_hand_pose(args: argparse.Namespace) -> None:
-    if args.hand_type != "both":
-        raise SystemExit("hands.mode=vr_hand_pose currently requires --hand-type both")
-
     config = make_config(args, mode="vr_hand_pose")
     provider = make_pico_provider()
     device, mapper = build_driver_runtime(config, driver=args.driver)