From 14b4b67339ac868bb541e2cdc44bf0b7e03c5a07 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E5=AD=99=E6=98=8C=E8=B4=BA?= Date: Thu, 12 Feb 2026 15:14:18 +0800 Subject: [PATCH] [update] README --- README.md | 11 ++++++++++- README_zh-CN.md | 11 ++++++++++- 2 files changed, 20 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index c5cd2b8..a536859 100644 --- a/README.md +++ b/README.md @@ -220,7 +220,7 @@ build cert.pem key.pem LICENSE pyproject.toml README.md rootCA.key rootCA | ⚙️ Parameter | 📜 Description | | :----------: | :----------------------------------------------------------: | -| `--motion` | **Enable motion control mode** When enabled, the teleoperation program can run alongside the robot’s motion control program.In **hand tracking** mode, the [R3 controller](https://www.unitree.com/cn/R3) can be used to control normal robot walking; in **controller tracking** mode, joysticks can also control the robot’s movement. | +| `--motion` | **Enable motion control mode** When enabled, the teleoperation program can run alongside the robot’s motion control program.In **hand tracking** mode, the [R3 controller](https://www.unitree.com/cn/R3) can be used to control normal robot walking; in **controller tracking** mode, joysticks can also control the robot’s movement.
Note: Only `Regular mode` (R1+X) is supported, `Running mode` (R2+A) is not supported. | | `--headless` | **Enable headless mode** For running the program on devices without a display, e.g., the Development Computing Unit (PC2). | | `--sim` | **Enable [simulation mode](https://github.com/unitreerobotics/unitree_sim_isaaclab)** | | `--ipc` | **Inter-process communication mode** Allows controlling the xr_teleoperate program’s state via IPC. Suitable for interaction with agent programs. | @@ -530,3 +530,12 @@ This code builds upon following open-source code-bases. Please visit the URLs to 8. https://github.com/Dingry/BunnyVisionPro 9. https://github.com/unitreerobotics/unitree_sdk2_python 10. https://github.com/ARCLab-MIT/beavr-bot + +## 7. 📝 Citation + +@misc{xr-teleoperate, + author = {Unitree}, + title = {XR-Teleoperate: An Open-Source Teleoperation Framework and Data Collection Toolkit for Embodied Intelligence}, + howpublished = {\url{https://github.com/unitreerobotics/xr_teleoperate}}, + year = {2025}, +} diff --git a/README_zh-CN.md b/README_zh-CN.md index 82ccb62..5b7f87d 100644 --- a/README_zh-CN.md +++ b/README_zh-CN.md @@ -232,7 +232,7 @@ build cert.pem key.pem LICENSE pyproject.toml README.md rootCA.key rootCA | ⚙️ 参数 | 📜 说明 | | :----------: | :----------------------------------------------------------: | -| `--motion` | 【启用**运动控制**模式】
开启本模式后，可在机器人运控程序运行下进行遥操作程序。
**手势跟踪**模式下，可使用 [R3遥控器](https://www.unitree.com/cn/R3) 控制机器人正常行走；**手柄跟踪**模式下，也可使用[手柄摇杆控制机器人行走](https://github.com/unitreerobotics/xr_teleoperate/blob/375cdc27605de377c698e2b89cad0e5885724ca6/teleop/teleop_hand_and_arm.py#L247-L257)。 | +| `--motion` | 【启用**运动控制**模式】
开启本模式后，可在机器人运控程序运行下进行遥操作程序。
**手势跟踪**模式下，可使用 [R3遥控器](https://www.unitree.com/cn/R3) 控制机器人正常行走；**手柄跟踪**模式下，也可使用[手柄摇杆控制机器人行走](https://github.com/unitreerobotics/xr_teleoperate/blob/375cdc27605de377c698e2b89cad0e5885724ca6/teleop/teleop_hand_and_arm.py#L247-L257)。
注意：只支持 `Regular mode` (R1+X)，不支持 `Running mode` (R2+A) | | `--headless` | 【启用**无图形界面**模式】
适用于本程序部署在开发计算单元（PC2）等无显示器情况 | | `--sim` | 【启用[**仿真模式**](https://github.com/unitreerobotics/unitree_sim_isaaclab)】 | | `--ipc` | 【进程间通信模式】
可通过进程间通信来控制 xr_teleoperate 程序的状态切换，此模式适合与代理程序进行交互 | @@ -559,3 +559,12 @@ xr_teleoperate/ 8. https://github.com/Dingry/BunnyVisionPro 9. https://github.com/unitreerobotics/unitree_sdk2_python 10. https://github.com/ARCLab-MIT/beavr-bot + +## 7. 📝 引用 + +@misc{xr-teleoperate, + author = {Unitree}, + title = {XR-Teleoperate: An Open-Source Teleoperation Framework and Data Collection Toolkit for Embodied Intelligence}, + howpublished = {\url{https://github.com/unitreerobotics/xr_teleoperate}}, + year = {2025}, +}