epilectrik
/
teleop
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

[update] tag v1.3

main
silencht 6 months ago
parent
578e297152
commit
4e8dd0df65
8 changed files with 733 additions and 220 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 55
      CHANGELOG.md
  2. 53
      CHANGELOG_zh-CN.md
  3. 303
      Device.md
  4. 303
      Device_zh-CN.md
  5. 116
      README.md
  6. 117
      README_zh-CN.md
  7. 4
      assets/brainco_hand/brainco.yml
  8. 2
      teleop/utils/ipc.py

55
CHANGELOG.md
View File

@ -0,0 +1,55 @@
# 🔖 Release Note
## 🏷️ v1.3
- add [![Unitree LOGO](https://camo.githubusercontent.com/ff307b29fe96a9b115434a450bb921c2a17d4aa108460008a88c58a67d68df4e/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f4769744875622d57696b692d3138313731373f6c6f676f3d676974687562)](https://github.com/unitreerobotics/xr_teleoperate/wiki) [![Unitree LOGO](https://camo.githubusercontent.com/6f5253a8776090a1f89fa7815e7543488a9ec200d153827b4bc7c3cb5e1c1555/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f2d446973636f72642d3538363546323f7374796c653d666c6174266c6f676f3d446973636f7264266c6f676f436f6c6f723d7768697465)](https://discord.gg/ZwcVwxv5rq)
- Support **IPC mode**, defaulting to use SSHKeyboard for input control.
- Merged motion mode support for H1_2 robot.
- Merged motion mode support for the G1_23 robot arm.
------
- Optimized data recording functionality.
- Improved gripper usage in simulation environment.
------
- Fixed startup oscillation by initializing IK before controller activation.
- Fixed SSHKeyboard stop-listening bug.
- Fixed logic of the start button.
- Fixed various bugs in simulation mode.
## 🏷️ v1.2
1. Upgrade the Dex1_1 gripper control code to be compatible with the [dex1_1 service](https://github.com/unitreerobotics/dex1_1_service) driver.
## 🏷️ v1.1
1. Added support for a new end-effector type: **`brainco`**, which refers to the [Brain Hand](https://www.brainco-hz.com/docs/revolimb-hand/) developed by [BrainCo](https://www.brainco.cn/#/product/dexterous).
2. Changed the **DDS domain ID** to `1` in **simulation mode** to prevent conflicts during physical deployment.
3. Fixed an issue where the default frequency was set too high.
## 🏷️ v1.0 (newvuer)
1. Upgraded the [Vuer](https://github.com/vuer-ai/vuer) library to version **v0.0.60**, expanding XR device support to two modes: **hand tracking** and **controller tracking**. The project has been renamed from **`avp_teleoperate`** to **`xr_teleoperate`** to better reflect its broader capabilities.
Devices tested include: Apple Vision Pro, Meta Quest 3 (with controllers), and PICO 4 Ultra Enterprise (with controllers).
2. Modularized parts of the codebase and integrated **Git submodules** (`git submodule`) to improve code clarity and maintainability.
3. Introduced **headless**, **motion control**, and **simulation** modes. Startup parameter configuration has been streamlined for ease of use (see Section 2.2).
The **simulation** mode enables environment validation and hardware failure diagnostics.
4. Changed the default hand retargeting algorithm from *Vector* to **DexPilot**, enhancing the precision and intuitiveness of fingertip pinching interactions.
5. Various other improvements and optimizations.
## 🏷️ v0.5 (oldvuer)
1. The repository was named **`avp_teleoperate`** in this version.
2. Supported robot included: `G1_29`, `G1_23`, `H1_2`, and `H1`.
3. Supported end-effectors included: `dex3`, `dex1(gripper)`, and `inspire1`.
4. Only supported **hand tracking mode** for XR devices (using [Vuer](https://github.com/vuer-ai/vuer) version **v0.0.32RC7**).
**Controller tracking mode** was **not** supported.
5. Data recording mode was available.

53
CHANGELOG_zh-CN.md
View File

@ -0,0 +1,53 @@
# 🔖 版本说明
## 🏷️ v1.3
- 添加 [![Unitree LOGO](https://camo.githubusercontent.com/ff307b29fe96a9b115434a450bb921c2a17d4aa108460008a88c58a67d68df4e/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f4769744875622d57696b692d3138313731373f6c6f676f3d676974687562)](https://github.com/unitreerobotics/xr_teleoperate/wiki) [![Unitree LOGO](https://camo.githubusercontent.com/6f5253a8776090a1f89fa7815e7543488a9ec200d153827b4bc7c3cb5e1c1555/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f2d446973636f72642d3538363546323f7374796c653d666c6174266c6f676f3d446973636f7264266c6f676f436f6c6f723d7768697465)](https://discord.gg/ZwcVwxv5rq)
- 支持 **IPC 模式**，默认使用 SSHKeyboard 进行输入控制。
- 合并 **H1_2** 机器人新增运动模式支持。
- 合并 **G1_23** 机械臂新增运动模式支持。
------
- 优化了数据记录功能。
- 改进了仿真环境中的夹持器（gripper）使用体验。
------
- 通过在控制器启动前初始化 IK，修复了启动时的抖动问题。
- 修复了 SSHKeyboard 停止监听的 bug。
- 修复了启动按钮逻辑错误。
- 修复了仿真模式中的若干 bug。
## 🏷️ v1.2
1. 升级Dex1_1夹爪控制代码，匹配 [dex1_1 service](https://github.com/unitreerobotics/dex1_1_service) 驱动
## 🏷️ v1.1
1. 末端执行器类型新增'brainco'，这是[强脑科技第二代灵巧手](https://www.brainco-hz.com/docs/revolimb-hand/)
2. 为避免与实机部署时发生冲突，将仿真模式下的 dds 通道的domain id修改为1
3. 修复默认频率过高的问题
## 🏷️ v1.0 (newvuer)
1. 升级 [Vuer](https://github.com/vuer-ai/vuer) 库至 v0.0.60 版本，XR设备支持模式扩展为**手部跟踪**和**控制器跟踪**两种。为更准确反映功能范围，项目由 **avp_teleoperate** 更名为 **xr_teleoperate**。
测试设备包括： Apple Vision Pro，Meta Quest 3（含手柄） 与 PICO 4 Ultra Enterprise（含手柄）。
2. 对部分功能进行了**模块化**拆分，并通过 Git 子模块（git submodule）方式进行管理和加载，提升代码结构的清晰度与维护性。
3. 新增**无头**、**运控**及**仿真**模式，优化启动参数配置（详见第2.2节），提升使用便捷性。**仿真**模式的加入，方便了环境验证和硬件故障排查。
4. 将默认手部映射算法从 Vector 切换为 **DexPilot**，优化了指尖捏合的精度与交互体验。
5. 其他一些优化
## 🏷️ v0.5 (oldvuer)
1. 该版本曾经命名为 `avp_teleoperate`
2. 支持 'G1_29', 'G1_23', 'H1_2', 'H1' 机器人类型
3. 支持 'dex3', 'gripper', 'inspire1' 末端执行器类型
4. 仅支持 XR 设备的手部跟踪模式（ [Vuer](https://github.com/vuer-ai/vuer) 版本为 v0.0.32RC7），不支持控制器模式
5. 支持数据录制模式

303
Device.md
View File

@ -0,0 +1,303 @@
# 5. 🛠️ Hardware
## 5.1 🎮 Teleoperation Devices
> The following items are required for teleoperation.
<table border="1" cellspacing="0" cellpadding="5" style="border-collapse: collapse; width: 100%;">
<tr>
<th style="text-align: center;">Item</th>
<th style="text-align: center;">Quantity</th>
<th style="text-align: center;">Specification</th>
<th style="text-align: center;">Remarks</th>
</tr>
<tr>
<td style="text-align: center;"><b>Unitree General Humanoid Robot G1</b></td>
<td style="text-align: center;">1</td>
<td style="text-align: center;"><a href="https://www.unitree.com/cn/g1">https://www.unitree.com/cn/g1</a></td>
<td style="text-align: center;">Developer computing unit version required</td>
</tr>
<tr>
<td style="text-align: center;"><b>XR Device</b></td>
<td style="text-align: center;">1</td>
<td style="text-align: center;">
<a href="https://www.apple.com.cn/apple-vision-pro/">apple-vision-pro</a><br />
<a href="https://www.picoxr.com/products/pico4-ultra-enterprise">pico4-ultra-enterprise</a><br />
<a href="https://www.meta.com/quest/quest-3">quest-3</a><br />
<a href="https://www.meta.com/quest/quest-3s/">quest-3s</a><br />
</td>
<td style="text-align: center;">
<a href="https://github.com/unitreerobotics/xr_teleoperate/wiki/XR_Device">Please refer to our WiKi [XR_Device]</a>
</td>
</tr>
<tr>
<td style="text-align: center;"><b>Router</b></td>
<td style="text-align: center;">1</td>
<td style="text-align: center;">Recommended: at least WiFi6 support</td>
<td style="text-align: center;">Required in wired mode; optional in wireless mode.</td>
</tr>
<tr>
<td style="text-align: center;"><b>User Computer</b></td>
<td style="text-align: center;">1</td>
<td style="text-align: center;">Recommended x86-64 architecture</td>
<td style="text-align: center;">
For simulation mode, please follow
<a href="https://docs.isaacsim.omniverse.nvidia.com/4.5.0/installation/requirements.html">NVIDIA official hardware recommendations</a>
for deployment.
</td>
</tr>
<tr>
<td style="text-align: center;"><b>Head Camera</b></td>
<td style="text-align: center;">1</td>
<td style="text-align: center;">
Monocular camera (built-in Realsense D435i)<br />
Stereo camera (external mount, see details at chapter 5.2)
</td>
<td style="text-align: center;">
Used for robot head perspective, stereo camera provides more immersion.<br />
Driven by <a href="https://github.com/unitreerobotics/xr_teleoperate/tree/main/teleop/image_server">image_server</a>
</td>
</tr>
<tr>
<td style="text-align: center;">USB3.0 Cable</td>
<td style="text-align: center;">1</td>
<td style="text-align: center;">
Type-C double straight connectors, about 0.2m length
</td>
<td style="text-align: center;">
For connecting the stereo head camera
</td>
</tr>
</table>
## 5.2 💽 Data Collection Devices
> The following items are optional devices for recording [datasets](https://huggingface.co/unitreerobotics). Parameters, links, etc. are for **reference only**.
### 5.2.1 Stereo Camera 60 FPS
- Materials
> Compared with the camera in Section 5.2.2, this one increases the frame rate from 30 FPS to 60 FPS, and its mounting dimensions differ.
| Item | Quantity | Specification | Remarks |
| :---------------: | :------: | :----------------------------------------------------------: | :----------------------------------------------------------: |
| Stereo RGB Camera | 1 | [60FPS, 125°FOV, 60mm baseline](https://e.tb.cn/h.S2zMNwiUzC9I2H1) | For robot head perspective |
| M4x16mm Screws | 2 | [Reference](https://amzn.asia/d/cfta55x) | For fastening camera bracket |
| M2x5mm/6mm Screws | 8 | [Reference](https://amzn.asia/d/1msRa5B) | For fastening (camera - camera mount) and (camera mount - camera cover) |
- 3D Printing Parts
<table border="1" cellspacing="0" cellpadding="5" style="border-collapse: collapse; width: 100%; text-align: center;">
<colgroup>
<col style="width: 20%;">
<col style="width: 20%;">
<col style="width: 20%;">
<col style="width: 20%;">
<col style="width: 20%;">
</colgroup>
<tr>
<th>Item</th>
<th>Camera Bracket</th>
<th>Camera Cover Plate</th>
<th>USB-Type-C Clamp</th>
<th>Download Link</th>
</tr>
<tr>
<td>
<img src="https://oss-global-cdn.unitree.com/static/e5ca0cc978cb4b48b693869bbc0e2a36_1023x885.png" style="max-width:45%; margin-bottom:5px;"/><br />
<b>Classic Head (98mm)</b>
</td>
<td><img src="https://oss-global-cdn.unitree.com/static/d8b0d8faa2d94a84a292bc4c26c65f2a_1920x1080.png" style="max-width:100%;"/></td>
<td><img src="https://oss-global-cdn.unitree.com/static/caa6e17e8fba45b1a53c9109e9a6a9a4_1509x849.png" style="max-width:50%;"/></td>
<td align="center"><img src="https://oss-global-cdn.unitree.com/static/ea8edf0b4dd54ea792935eee9b70f550_1443x641.png" style="max-width:30%;"/></td>
<td><a href="https://oss-global-cdn.unitree.com/static/477103c571dc46f99ec6e0b57b3b3be6.zip">📥 Classic 3D Printing Parts</a></td>
</tr>
<tr>
<td>
<img src="https://oss-global-cdn.unitree.com/static/af9f379642e044bc9e88040b2c33a4c4_1110x904.png" style="max-width:50%; margin-bottom:5px;"/><br />
<b>Renewed Head (88mm)</b>
</td>
<td><img src="https://oss-global-cdn.unitree.com/static/d8b0d8faa2d94a84a292bc4c26c65f2a_1920x1080.png" style="max-width:100%;"/></td>
<td><img src="https://oss-global-cdn.unitree.com/static/caa6e17e8fba45b1a53c9109e9a6a9a4_1509x849.png" style="max-width:50%;"/></td>
<td align="center"><img src="https://oss-global-cdn.unitree.com/static/ea8edf0b4dd54ea792935eee9b70f550_1443x641.png" style="max-width:30%;"/></td>
<td><a href="https://oss-global-cdn.unitree.com/static/950f53b95d5943589e278241b59c86ff.zip">📥 Renewed 3D Printing Parts</a></td>
</tr>
</table>
### 5.2.2 Stereo Camera 30 FPS
- Materials
| Item | Quantity | Specification | Remarks |
| :---------------: | :------: | :----------------------------------------------------------: | :----------------------------------------------------------: |
| Stereo Camera | 1 | [30FPS, 125°FOV, 60mm baseline](http://e.tb.cn/h.TaZxgkpfWkNCakg) | For robot head perspective |
| M4x16mm Screws | 2 | [Reference](https://amzn.asia/d/cfta55x) | For fastening camera bracket |
| M2x5mm/6mm Screws | 8 | [Reference](https://amzn.asia/d/1msRa5B) | For fastening (camera - camera mount) and (camera mount - camera cover) |
- 3D Printing Parts
<table border="1" cellspacing="0" cellpadding="5" style="border-collapse: collapse; width: 100%; text-align: center;">
<colgroup>
<col style="width: 20%;">
<col style="width: 25%;">
<col style="width: 25%;">
<col style="width: 30%;">
</colgroup>
<tr>
<th>Item</th>
<th>Camera Bracket</th>
<th>Camera Cover Plate</th>
<th>Download Link</th>
</tr>
<tr>
<td>
<img src="https://oss-global-cdn.unitree.com/static/e5ca0cc978cb4b48b693869bbc0e2a36_1023x885.png" style="max-width:45%; margin-bottom:5px;"/><br />
<b>Classic Head (98mm)</b>
</td>
<td><img src="https://oss-global-cdn.unitree.com/static/d8b0d8faa2d94a84a292bc4c26c65f2a_1920x1080.png" style="max-width:100%;"/></td>
<td>None</td>
<td><a href="https://oss-global-cdn.unitree.com/static/39dea40900784b199bcba31e72c906b9.zip">📥 Classic 3D Printing Parts</a></td>
</tr>
<tr>
<td>
<img src="https://oss-global-cdn.unitree.com/static/af9f379642e044bc9e88040b2c33a4c4_1110x904.png" style="max-width:50%; margin-bottom:5px;"/><br />
<b>Renewed Head (88mm)</b>
</td>
<td><img src="https://oss-global-cdn.unitree.com/static/d8b0d8faa2d94a84a292bc4c26c65f2a_1920x1080.png" style="max-width:100%;"/></td>
<td><img src="https://oss-global-cdn.unitree.com/static/caa6e17e8fba45b1a53c9109e9a6a9a4_1509x849.png" style="max-width:50%;"/></td>
<td><a href="https://oss-global-cdn.unitree.com/static/58e300cc99da48f4a4977998c48cefa3.zip">📥 Renewed 3D Printing Parts</a></td>
</tr>
</table>
### 5.2.3 G1 Wrist RealSense D405
> RealSense D405 is recommended only for [Unitree Dex3-1](https://www.unitree.com/Dex3-1) end-effector use.
- Materials
| Item | Quantity | Specification | Remarks |
| :------------: | :------: | :----------------------------------------------------------: | :----------------------------------------------------------: |
| RealSense D405 | 2 | [Website](https://www.intelrealsense.com/depth-camera-d405/) | For G1 robot wrist (M4010 motors) left & right perspectives |
| USB3.0 Hub | 1 | [Issue](https://github.com/IntelRealSense/librealsense/issues/24) | Choose a high-quality hub; recommended to connect to [Type-C #9](https://support.unitree.com/home/en/G1_developer/about_G1) |
| M3-1 Hex Nut | 4 | [Reference](https://a.co/d/gQaLtHD) | For wrist fastening |
| M3x12 Screw | 4 | [Reference](https://amzn.asia/d/aU9NHSf) | For wrist fastening |
| M3x6 Screw | 4 | [Reference](https://amzn.asia/d/0nEz5dJ) | For wrist fastening |
- 3D Printing Parts
| Item | Quantity | Remarks | Download Link |
| :----------------------: | :------: | :----------------------------: | :----------------------------------------------------------: |
| D405 Wrist Ring | 2 | To be used with wrist mount | [📥 STEP](https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/wrist_ring_mount.STEP) |
| Left Wrist Camera Mount | 1 | For mounting left D405 camera | [📥 STEP](https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/left_wrist_D405_camera_mount.STEP) |
| Right Wrist Camera Mount | 1 | For mounting right D405 camera | [📥 STEP](https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/right_wrist_D405_camera_mount.STEP) |
### 5.2.4 G1 Wrist Monocular Camera
- Materials
| Item | Quantity | Specification | Remarks |
| :---------------: | :------: | :----------------------------------------------------------: | :------------------------------------------------: |
| Monocular Camera | 2 | [60FPS, 160° FOV](https://e.tb.cn/h.S2YWUJan6ZP8Wqv?tk=MqHK4uvWlLk) | For G1 robot wrist (M4010 motors) left & right |
| USB3.0 Hub | 1 | [Reference](https://e.tb.cn/h.S2QB8hVuKbNfqb9?tk=XsBL4uwn2Ch) | For connecting two wrist cameras |
| M3-1 Hex Nut | 4 | [Reference](https://a.co/d/gQaLtHD) | For wrist fastening |
| M3x12 Screw | 4 | [Reference](https://amzn.asia/d/aU9NHSf) | For fastening wrist mount and ring |
| M2.5x5 Screw | 4 | [Reference](https://amzn.asia/d/0nEz5dJ) | For fastening cable clip and wrist bracket |
| M2x5mm/6mm Screws | 8 | [Reference](https://amzn.asia/d/1msRa5B) | For fastening (camera-bracket) and (bracket-cover) |
- 3D Printing Parts
<table border="1" cellspacing="0" cellpadding="5" style="border-collapse: collapse; width: 100%; text-align: center;">
<tr>
<th>End-Effector</th>
<th>Camera Mount</th>
<th>Wrist Ring</th>
<th>Camera Cover Plate</th>
<th>Cable Clip</th>
<th>Download Link</th>
</tr>
<tr>
<td><a href="https://www.unitree.com/Dex1-1">Unitree Dex1-1</a></td>
<td><img src="https://oss-global-cdn.unitree.com/static/e21bd12e56b8442cb460aae93ca85443_1452x1047.png" width="120"/></td>
<td><img src="https://oss-global-cdn.unitree.com/static/d867000b2cd6496595e5ca373b9e39a9_1133x683.png" width="120"/></td>
<td><img src="https://oss-global-cdn.unitree.com/static/eb98c4f275db4d86b94e77746589cd94_1361x712.png" width="120"/></td>
<td rowspan="3" valign="middle">
<img src="https://oss-global-cdn.unitree.com/static/feefe9b679c34c5b8e88274174e23266_1095x689.png" width="120"/>
</td>
<td rowspan="3" valign="middle">
<a href="https://oss-global-cdn.unitree.com/static/ff287f8f700948b5a30e3f4331a46b51.zip">📥 Download 3D Printing Parts</a>
</td>
</tr>
<tr>
<td><a href="https://www.unitree.com/Dex3-1">Unitree Dex3-1</a></td>
<td><img src="https://oss-global-cdn.unitree.com/static/69e27c2433694c609f47f8c87265de90_893x741.png" width="120"/></td>
<td><img src="https://oss-global-cdn.unitree.com/static/8d49682d9f4a49cdbcfba8660de88b81_982x588.png" width="120"/></td>
<td><img src="https://oss-global-cdn.unitree.com/static/901421b01ca440d8bb8459feed1e42ff_1168x754.png" width="120"/></td>
</tr>
<tr>
<td>
<a href="https://support.unitree.com/home/en/G1_developer/inspire_dfx_dexterous_hand">Inspire DFX Hand</a> /
<a href="https://support.unitree.com/home/en/G1_developer/brainco_hand">Brainco Hand</a>
</td>
<td><img src="https://oss-global-cdn.unitree.com/static/b83d56bd28e64ccfb6c30bdcedfb536d_801x887.png" width="120"/></td>
<td><img src="https://oss-global-cdn.unitree.com/static/763521d9313e4648b9dd23a3c11d8291_752x906.png" width="120"/></td>
<td><img src="https://oss-global-cdn.unitree.com/static/68ed3a1ef0434801adbb73f2f45799e8_808x865.png" width="120"/></td>
</tr>
</table>
## 5.3 🔨 Installation Illustrations (Partial)
<table>
<tr>
<th align="center">Item</th>
<th align="center" colspan="2">Simulation</th>
<th align="center" colspan="2">Real Device</th>
</tr>
<tr>
<td align="center">Head</td>
<td align="center">
<p align="center">
<img src="./img/head_camera_mount.png" alt="head" width="100%">
<figcaption>Head Bracket</figcaption>
</p>
</td>
<td align="center">
<p align="center">
<img src="./img/head_camera_mount_install.png" alt="head" width="80%">
<figcaption>Assembly Side View</figcaption>
</p>
</td>
<td align="center" colspan="2">
<p align="center">
<img src="./img/real_head.jpg" alt="head" width="20%">
<figcaption>Assembly Front View</figcaption>
</p>
</td>
</tr>
<tr>
<td align="center">Wrist</td>
<td align="center" colspan="2">
<p align="center">
<img src="./img/wrist_and_ring_mount.png" alt="wrist" width="100%">
<figcaption>Wrist Ring & Camera Mount</figcaption>
</p>
</td>
<td align="center">
<p align="center">
<img src="./img/real_left_hand.jpg" alt="wrist" width="50%">
<figcaption>Assembly Left Hand</figcaption>
</p>
</td>
<td align="center">
<p align="center">
<img src="./img/real_right_hand.jpg" alt="wrist" width="50%">
<figcaption>Assembly Right Hand</figcaption>
</p>
</td>
</tr>
</table>
> Note: As shown in the red circles, the wrist ring bracket must align with the wrist joint seam.

303
Device_zh-CN.md
View File

@ -0,0 +1,303 @@
# 5. 🛠️ 硬件
## 5.1 🎮 遥操作设备
> 下方项目是遥操作时需要使用的设备。
<table border="1" cellspacing="0" cellpadding="5" style="border-collapse: collapse; width: 100%;">
<tr>
<th style="text-align: center;">项目</th>
<th style="text-align: center;">数量</th>
<th style="text-align: center;">规格</th>
<th style="text-align: center;">备注</th>
</tr>
<tr>
<td style="text-align: center;"><b>宇树通用人形机器人 G1</b></td>
<td style="text-align: center;">1</td>
<td style="text-align: center;"><a href="https://www.unitree.com/cn/g1">https://www.unitree.com/cn/g1</a></td>
<td style="text-align: center;">需选配开发计算单元版本</td>
</tr>
<tr>
<td style="text-align: center;"><b>XR 设备</b></td>
<td style="text-align: center;">1</td>
<td style="text-align: center;">
<a href="https://www.apple.com.cn/apple-vision-pro/">apple-vision-pro</a><br />
<a href="https://www.picoxr.com/products/pico4-ultra-enterprise">pico4-ultra-enterprise</a><br />
<a href="https://www.meta.com/quest/quest-3">quest-3</a><br />
<a href="https://www.meta.com/quest/quest-3s/">quest-3s</a><br />
</td>
<td style="text-align: center;">
<a href="https://github.com/unitreerobotics/xr_teleoperate/wiki/XR_Device">Please Refer Our WiKi [XR_Device]</a>
</td>
</tr>
<tr>
<td style="text-align: center;"><b>路由器</b></td>
<td style="text-align: center;">1</td>
<td style="text-align: center;">推荐至少支持 WiFi6</td>
<td style="text-align: center;">常规模式必须，无线模式可选。</td>
</tr>
<tr>
<td style="text-align: center;"><b>用户电脑</b></td>
<td style="text-align: center;">1</td>
<td style="text-align: center;">推荐 x86-64 架构</td>
<td style="text-align: center;">
仿真模式下请使用
<a href="https://docs.isaacsim.omniverse.nvidia.com/4.5.0/installation/requirements.html"> NVIDIA 官方推荐</a>
的硬件资源进行部署使用
</td>
</tr>
<tr>
<td style="text-align: center;"><b>头部相机</b></td>
<td style="text-align: center;">1</td>
<td style="text-align: center;">
单目相机（机器人内置 Realsense D435i）<br />
双目相机（支架外置，详情见5.2节表格）
</td>
<td style="text-align: center;">
用于机器人头部视野，双目相机更有沉浸感。<br />
使用 <a href="https://github.com/unitreerobotics/xr_teleoperate/tree/main/teleop/image_server">image_server</a> 文件驱动
</td>
</tr>
<tr>
<td style="text-align: center;">USB3.0 数据线</td>
<td style="text-align: center;">1</td>
<td style="text-align: center;">
双直头Type-C，长度0.2米左右
</td>
<td style="text-align: center;">
用于连接头部双目相机
</td>
</tr>
</table>
## 5.2 💽 数据采集设备
> 下方项目是录制[数据集](https://huggingface.co/unitreerobotics)时的可选设备。设备参数、链接等信息**仅供参考**。
### 5.2.1 双目相机 60 FPS
- 物料
> 该相机与 5.2.2节相机区别是帧率从 30FPS 提升至 60FPS，且安装尺寸有所变化。
| 项目 | 数量 | 规格 | 备注 |
| :------------------: | :--: | :----------------------------------------------------------: | :----------------------------------------------: |
| 双目RGB相机 | 1 | [60FPS、125°FOV、60mm基线](https://e.tb.cn/h.S2zMNwiUzC9I2H1) | 用于机器人头部视角 |
| M4x16mm 螺钉 | 2 | [仅供参考](https://amzn.asia/d/cfta55x) | 用于相机支架紧固 |
| M2x5mm / 6mm自攻螺钉 | 8 | [仅供参考](https://amzn.asia/d/1msRa5B) | 用于紧固（相机-相机支架）和（相机支架-相机盖板） |
- 3D打印件
<table border="1" cellspacing="0" cellpadding="5" style="border-collapse: collapse; width: 100%; text-align: center;">
<colgroup>
<col style="width: 20%;">
<col style="width: 20%;">
<col style="width: 20%;">
<col style="width: 20%;">
<col style="width: 20%;">
</colgroup>
<tr>
<th>项目</th>
<th>相机支架</th>
<th>相机盖板</th>
<th>USB-Type-C 压块</th>
<th>下载链接</th>
</tr>
<tr>
<td>
<img src="https://oss-global-cdn.unitree.com/static/e5ca0cc978cb4b48b693869bbc0e2a36_1023x885.png" style="max-width:45%; margin-bottom:5px;"/><br />
<b>经典版头部（98mm）</b>
</td>
<td><img src="https://oss-global-cdn.unitree.com/static/d8b0d8faa2d94a84a292bc4c26c65f2a_1920x1080.png" style="max-width:100%;"/></td>
<td><img src="https://oss-global-cdn.unitree.com/static/caa6e17e8fba45b1a53c9109e9a6a9a4_1509x849.png" style="max-width:50%;"/></td>
<td align="center"><img src="https://oss-global-cdn.unitree.com/static/ea8edf0b4dd54ea792935eee9b70f550_1443x641.png" style="max-width:30%;"/></td>
<td><a href="https://oss-global-cdn.unitree.com/static/477103c571dc46f99ec6e0b57b3b3be6.zip">📥 经典版3D打印结构件</a></td>
</tr>
<tr>
<td>
<img src="https://oss-global-cdn.unitree.com/static/af9f379642e044bc9e88040b2c33a4c4_1110x904.png" style="max-width:50%; margin-bottom:5px;"/><br />
<b>焕新版头部（88mm）</b>
</td>
<td><img src="https://oss-global-cdn.unitree.com/static/d8b0d8faa2d94a84a292bc4c26c65f2a_1920x1080.png" style="max-width:100%;"/></td>
<td><img src="https://oss-global-cdn.unitree.com/static/caa6e17e8fba45b1a53c9109e9a6a9a4_1509x849.png" style="max-width:50%;"/></td>
<td align="center"><img src="https://oss-global-cdn.unitree.com/static/ea8edf0b4dd54ea792935eee9b70f550_1443x641.png" style="max-width:30%;"/></td>
<td><a href="https://oss-global-cdn.unitree.com/static/950f53b95d5943589e278241b59c86ff.zip">📥 焕新版3D打印结构件</a></td>
</tr>
</table>
### 5.2.2 双目相机 30 FPS
- 物料
| 项目 | 数量 | 规格 | 备注 |
| :------------------: | :--: | :----------------------------------------------------------: | :----------------------------------------------: |
| 双目相机 | 1 | [30FPS、125°FOV、60mm基线](http://e.tb.cn/h.TaZxgkpfWkNCakg) | 用于机器人头部视角 |
| M4x16mm 螺钉 | 2 | [仅供参考](https://amzn.asia/d/cfta55x) | 用于相机支架紧固 |
| M2x5mm / 6mm自攻螺钉 | 8 | [仅供参考](https://amzn.asia/d/1msRa5B) | 用于紧固（相机-相机支架）和（相机支架-相机盖板） |
- 3D打印件
<table border="1" cellspacing="0" cellpadding="5" style="border-collapse: collapse; width: 100%; text-align: center;">
<colgroup>
<col style="width: 20%;">
<col style="width: 25%;">
<col style="width: 25%;">
<col style="width: 30%;">
</colgroup>
<tr>
<th>项目</th>
<th>相机支架</th>
<th>相机盖板</th>
<th>下载链接</th>
</tr>
<tr>
<td>
<img src="https://oss-global-cdn.unitree.com/static/e5ca0cc978cb4b48b693869bbc0e2a36_1023x885.png" style="max-width:45%; margin-bottom:5px;"/><br />
<b>经典版头部（98mm）</b>
</td>
<td><img src="https://oss-global-cdn.unitree.com/static/d8b0d8faa2d94a84a292bc4c26c65f2a_1920x1080.png" style="max-width:100%;"/></td>
<td>无</td>
<td><a href="https://oss-global-cdn.unitree.com/static/39dea40900784b199bcba31e72c906b9.zip">📥 经典版3D打印结构件</a></td>
</tr>
<tr>
<td>
<img src="https://oss-global-cdn.unitree.com/static/af9f379642e044bc9e88040b2c33a4c4_1110x904.png" style="max-width:50%; margin-bottom:5px;"/><br />
<b>焕新版头部（88mm）</b>
</td>
<td><img src="https://oss-global-cdn.unitree.com/static/d8b0d8faa2d94a84a292bc4c26c65f2a_1920x1080.png" style="max-width:100%;"/></td>
<td><img src="https://oss-global-cdn.unitree.com/static/caa6e17e8fba45b1a53c9109e9a6a9a4_1509x849.png" style="max-width:50%;"/></td>
<td><a href="https://oss-global-cdn.unitree.com/static/58e300cc99da48f4a4977998c48cefa3.zip">📥 焕新版3D打印结构件</a></td>
</tr>
</table>
### 5.2.3 G1 腕部 RealSense D405
> RealSense D405 仅推荐 [Unitree Dex3-1](https://www.unitree.com/Dex3-1) 末端执行器使用
- 物料
| 项目 | 数量 | 规格 | 备注 |
| :-----------------: | :--: | :----------------------------------------------------------: | :----------------------------------------------------------: |
| RealSense D405 相机 | 2 | [Website](https://www.intelrealsense.com/depth-camera-d405/) | 用于G1机器人（M4010腕部电机）左右腕部视角 |
| USB3.0 Hub | 1 | [Issue](https://github.com/IntelRealSense/librealsense/issues/24) | 注意选用优质Hub以满足realsense相机需求；<br />推荐连接至 [9号Type-C接口](https://support.unitree.com/home/en/G1_developer/about_G1) |
| M3-1 六角螺母 | 4 | [仅供参考](https://a.co/d/gQaLtHD) | 用于紧固腕部 |
| M3x12 螺钉 | 4 | [仅供参考](https://amzn.asia/d/aU9NHSf) | 用于紧固腕部 |
| M3x6 螺钉 | 4 | [仅供参考](https://amzn.asia/d/0nEz5dJ) | 用于紧固腕部 |
- 3D打印件
| 项目 | 数量 | 备注 | 下载链接 |
| :---------------: | :--: | :--------------------: | :----------------------------------------------------------: |
| D405 相机腕圈支架 | 2 | 与腕部相机支架搭配使用 | [📥 STEP](https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/wrist_ring_mount.STEP) |
| 左腕相机支架 | 1 | 用于装配左腕D405相机 | [📥 STEP](https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/left_wrist_D405_camera_mount.STEP) |
| 右腕相机支架 | 1 | 用于装配右腕D405相机 | [📥 STEP](https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/right_wrist_D405_camera_mount.STEP) |
### 5.2.4 G1 腕部单目相机
- 物料
| 项目 | 数量 | 规格 | 备注 |
| :------------------: | :--: | :----------------------------------------------------------: | :----------------------------------------------: |
| 单目相机 | 2 | [60FPS、160° FOV](https://e.tb.cn/h.S2YWUJan6ZP8Wqv?tk=MqHK4uvWlLk) | 用于G1机器人（M4010腕部电机）左右腕部视角 |
| USB3.0 Hub | 1 | [仅供参考](https://e.tb.cn/h.S2QB8hVuKbNfqb9?tk=XsBL4uwn2Ch) | 用于连接两路腕部相机 |
| M3-1 六角螺母 | 4 | [仅供参考](https://a.co/d/gQaLtHD) | 用于腕部紧固件 |
| M3x12 螺钉 | 4 | [仅供参考](https://amzn.asia/d/aU9NHSf) | 用于紧固腕部支架和腕圈 |
| M2.5x5 自攻螺钉 | 4 | [仅供参考](https://amzn.asia/d/0nEz5dJ) | 用于紧固线卡和腕部支架 |
| M2x5mm / 6mm自攻螺钉 | 8 | [仅供参考](https://amzn.asia/d/1msRa5B) | 用于紧固（相机-相机支架）和（相机支架-相机盖板） |
- 3D打印件
<table border="1" cellspacing="0" cellpadding="5" style="border-collapse: collapse; width: 100%; text-align: center;">
<tr>
<th>末端执行器</th>
<th>相机支架</th>
<th>腕圈支架</th>
<th>相机盖板</th>
<th>线卡</th>
<th>下载链接</th>
</tr>
<tr>
<td><a href="https://www.unitree.com/Dex1-1">Unitree Dex1-1</a></td>
<td><img src="https://oss-global-cdn.unitree.com/static/e21bd12e56b8442cb460aae93ca85443_1452x1047.png" width="120"/></td>
<td><img src="https://oss-global-cdn.unitree.com/static/d867000b2cd6496595e5ca373b9e39a9_1133x683.png" width="120"/></td>
<td><img src="https://oss-global-cdn.unitree.com/static/eb98c4f275db4d86b94e77746589cd94_1361x712.png" width="120"/></td>
<td rowspan="3" valign="middle">
<img src="https://oss-global-cdn.unitree.com/static/feefe9b679c34c5b8e88274174e23266_1095x689.png" width="120"/>
</td>
<td rowspan="3" valign="middle">
<a href="https://oss-global-cdn.unitree.com/static/ff287f8f700948b5a30e3f4331a46b51.zip">📥 3D打印件下载链接</a>
</td>
</tr>
<tr>
<td><a href="https://www.unitree.com/Dex3-1">Unitree Dex3-1</a></td>
<td><img src="https://oss-global-cdn.unitree.com/static/69e27c2433694c609f47f8c87265de90_893x741.png" width="120"/></td>
<td><img src="https://oss-global-cdn.unitree.com/static/8d49682d9f4a49cdbcfba8660de88b81_982x588.png" width="120"/></td>
<td><img src="https://oss-global-cdn.unitree.com/static/901421b01ca440d8bb8459feed1e42ff_1168x754.png" width="120"/></td>
</tr>
<tr>
<td>
<a href="https://support.unitree.com/home/en/G1_developer/inspire_dfx_dexterous_hand">Inspire DFX Hand</a> /
<a href="https://support.unitree.com/home/en/G1_developer/brainco_hand">Brainco Hand</a>
</td>
<td><img src="https://oss-global-cdn.unitree.com/static/b83d56bd28e64ccfb6c30bdcedfb536d_801x887.png" width="120"/></td>
<td><img src="https://oss-global-cdn.unitree.com/static/763521d9313e4648b9dd23a3c11d8291_752x906.png" width="120"/></td>
<td><img src="https://oss-global-cdn.unitree.com/static/68ed3a1ef0434801adbb73f2f45799e8_808x865.png" width="120"/></td>
</tr>
</table>
## 5.3 🔨 安装示意图（部分）
<table>
<tr>
<th align="center">项目</th>
<th align="center" colspan="2">仿真</th>
<th align="center" colspan="2">实物</th>
</tr>
<tr>
<td align="center">头部</td>
<td align="center">
<p align="center">
<img src="./img/head_camera_mount.png" alt="head" width="100%">
<figcaption>头部支架</figcaption>
</p>
</td>
<td align="center">
<p align="center">
<img src="./img/head_camera_mount_install.png" alt="head" width="80%">
<figcaption>装配侧视</figcaption>
</p>
</td>
<td align="center" colspan="2">
<p align="center">
<img src="./img/real_head.jpg" alt="head" width="20%">
<figcaption>装配正视</figcaption>
</p>
</td>
</tr>
<tr>
<td align="center">腕部</td>
<td align="center" colspan="2">
<p align="center">
<img src="./img/wrist_and_ring_mount.png" alt="wrist" width="100%">
<figcaption>腕圈及相机支架</figcaption>
</p>
</td>
<td align="center">
<p align="center">
<img src="./img/real_left_hand.jpg" alt="wrist" width="50%">
<figcaption>装配左手</figcaption>
</p>
</td>
<td align="center">
<p align="center">
<img src="./img/real_right_hand.jpg" alt="wrist" width="50%">
<figcaption>装配右手</figcaption>
</p>
</td>
</tr>
</table>
> 注意：如图中红圈所示，腕圈支架与机器人手腕接缝对齐。

116
README.md
View File

@ -34,43 +34,17 @@
</p>
# 🔖 Release Note
# 🔖[Release Note](CHANGELOG.md)
## 🏷️ v1.2
## 🏷️ v1.3
1. Upgrade the Dex1_1 gripper control code to be compatible with the [dex1_1 service](https://github.com/unitreerobotics/dex1_1_service) driver.
## 🏷️ v1.1
1. Added support for a new end-effector type: **`brainco`**, which refers to the [Brain Hand](https://www.brainco-hz.com/docs/revolimb-hand/) developed by [BrainCo](https://www.brainco.cn/#/product/dexterous).
2. Changed the **DDS domain ID** to `1` in **simulation mode** to prevent conflicts during physical deployment.
3. Fixed an issue where the default frequency was set too high.
## 🏷️ v1.0 (newvuer)
1. Upgraded the [Vuer](https://github.com/vuer-ai/vuer) library to version **v0.0.60**, expanding XR device support to two modes: **hand tracking** and **controller tracking**. The project has been renamed from **`avp_teleoperate`** to **`xr_teleoperate`** to better reflect its broader capabilities.
Devices tested include: Apple Vision Pro, Meta Quest 3 (with controllers), and PICO 4 Ultra Enterprise (with controllers).
2. Modularized parts of the codebase and integrated **Git submodules** (`git submodule`) to improve code clarity and maintainability.
3. Introduced **headless**, **motion control**, and **simulation** modes. Startup parameter configuration has been streamlined for ease of use (see Section 2.2).
The **simulation** mode enables environment validation and hardware failure diagnostics.
4. Changed the default hand retargeting algorithm from *Vector* to **DexPilot**, enhancing the precision and intuitiveness of fingertip pinching interactions.
5. Various other improvements and optimizations.
## 🏷️ v0.5 (oldvuer)
1. The repository was named **`avp_teleoperate`** in this version.
2. Supported robot included: `G1_29`, `G1_23`, `H1_2`, and `H1`.
3. Supported end-effectors included: `dex3`, `dex1(gripper)`, and `inspire1`.
4. Only supported **hand tracking mode** for XR devices (using [Vuer](https://github.com/vuer-ai/vuer) version **v0.0.32RC7**).
**Controller tracking mode** was **not** supported.
5. Data recording mode was available.
- add [![Unitree LOGO](https://camo.githubusercontent.com/ff307b29fe96a9b115434a450bb921c2a17d4aa108460008a88c58a67d68df4e/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f4769744875622d57696b692d3138313731373f6c6f676f3d676974687562)](https://github.com/unitreerobotics/xr_teleoperate/wiki) [![Unitree LOGO](https://camo.githubusercontent.com/6f5253a8776090a1f89fa7815e7543488a9ec200d153827b4bc7c3cb5e1c1555/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f2d446973636f72642d3538363546323f7374796c653d666c6174266c6f676f3d446973636f7264266c6f676f436f6c6f723d7768697465)](https://discord.gg/ZwcVwxv5rq)
- Support **IPC mode**, defaulting to use SSHKeyboard for input control.
- Merged motion mode support for H1_2 robot.
- Merged motion mode support for the G1_23 robot arm.
- ···
# 0. 📖 Introduction
@ -452,81 +426,7 @@ xr_teleoperate/
# 5. 🛠️ Hardware
## 5.1 📋 Parts List
| Item | Quantity | Link(s) | Remarks |
| :--------------------------: | :------: | :----------------------------------------------------------: | :----------------------------------------------------------: |
| **humanoid robot** | 1 | https://www.unitree.com | With development computing unit |
| **XR device** | 1 | https://www.apple.com/apple-vision-pro/<br/>https://www.meta.com/quest/quest-3<br/>https://www.picoxr.com/products/pico4-ultra-enterprise | |
| **Router** | 1 | | Required for **default mode**; **wireless mode** not need. |
| **User PC** | 1 | | In **simulation mode**, please use the [officially recommended](https://docs.isaacsim.omniverse.nvidia.com/4.5.0/installation/requirements.html) hardware resources for deployment. |
| **Head stereo camera** | 1 | [For reference only] http://e.tb.cn/h.TaZxgkpfWkNCakg?tk=KKz03Kyu04u | For robot head view |
| **Head camera mount** | 1 | https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/head_stereo_camera_mount.STEP | For mounting head stereo camera |
| Intel RealSense D405 camera | 2 | https://www.intelrealsense.com/depth-camera-d405/ | For wrist |
| Wrist ring mount | 2 | https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/wrist_ring_mount.STEP | Used with wrist camera mount |
| Left wrist D405 mount | 1 | https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/left_wrist_D405_camera_mount.STEP | For mounting left wrist RealSense D405 camera |
| Right wrist D405 mount | 1 | https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/right_wrist_D405_camera_mount.STEP | For mounting right wrist RealSense D405 camera |
| M3-1 hex nuts | 4 | [For reference only] https://a.co/d/1opqtOr | For Wrist fastener |
| M3x12 screws | 4 | [For reference only] https://amzn.asia/d/aU9NHSf | For Wrist fastener |
| M3x6 screws | 4 | [For reference only] https://amzn.asia/d/0nEz5dJ | For Wrist fastener |
| **M4x14 screws** | 2 | [For reference only] https://amzn.asia/d/cfta55x | For head fastener |
| **M2x4 self‑tapping screws** | 4 | [For reference only] https://amzn.asia/d/1msRa5B | For head fastener |
> Note: The bolded items are essential equipment for teleoperation tasks, while the other items are optional equipment for recording [datasets](https://huggingface.co/unitreerobotics).
## 5.2 🔨 Mounting Diagrams
<table>
<tr>
<th align="center">Item</th>
<th align="center" colspan="2">Simulation</th>
<th align="center" colspan="2">Real</th>
</tr>
<tr>
<td align="center">Head</td>
<td align="center">
<p align="center">
<img src="./img/head_camera_mount.png" alt="head" width="100%">
<figcaption>Head Mount</figcaption>
</p>
</td>
<td align="center">
<p align="center">
<img src="./img/head_camera_mount_install.png" alt="head" width="80%">
<figcaption>Side View of Assembly</figcaption>
</p>
</td>
<td align="center" colspan="2">
<p align="center">
<img src="./img/real_head.jpg" alt="head" width="20%">
<figcaption>Front View of Assembly</figcaption>
</p>
</td>
</tr>
<tr>
<td align="center">Wrist</td>
<td align="center" colspan="2">
<p align="center">
<img src="./img/wrist_and_ring_mount.png" alt="wrist" width="100%">
<figcaption>Wrist Ring and Camera Mount</figcaption>
</p>
</td>
<td align="center">
<p align="center">
<img src="./img/real_left_hand.jpg" alt="wrist" width="50%">
<figcaption>Left Hand Assembly</figcaption>
</p>
</td>
<td align="center">
<p align="center">
<img src="./img/real_right_hand.jpg" alt="wrist" width="50%">
<figcaption>Right Hand Assembly</figcaption>
</p>
</td>
</tr>
</table>
> Note: The wrist ring mount should align with the seam of the robot's wrist, as shown by the red circle in the image.
please see [Device document](Device.md).

117
README_zh-CN.md
View File

@ -34,41 +34,17 @@
</p>
# 🔖 版本说明
# 🔖 [版本说明](CHANGELOG_zh-CN.md)
## 🏷️ v1.2
## 🏷️ v1.3
1. 升级Dex1_1夹爪控制代码，匹配 [dex1_1 service](https://github.com/unitreerobotics/dex1_1_service) 驱动
## 🏷️ v1.1
1. 末端执行器类型新增'brainco'，这是[强脑科技第二代灵巧手](https://www.brainco-hz.com/docs/revolimb-hand/)
2. 为避免与实机部署时发生冲突，将仿真模式下的 dds 通道的domain id修改为1
3. 修复默认频率过高的问题
## 🏷️ v1.0 (newvuer)
1. 升级 [Vuer](https://github.com/vuer-ai/vuer) 库至 v0.0.60 版本，XR设备支持模式扩展为**手部跟踪**和**控制器跟踪**两种。为更准确反映功能范围，项目由 **avp_teleoperate** 更名为 **xr_teleoperate**。
测试设备包括： Apple Vision Pro，Meta Quest 3（含手柄） 与 PICO 4 Ultra Enterprise（含手柄）。
2. 对部分功能进行了**模块化**拆分，并通过 Git 子模块（git submodule）方式进行管理和加载，提升代码结构的清晰度与维护性。
3. 新增**无头**、**运控**及**仿真**模式，优化启动参数配置（详见第2.2节），提升使用便捷性。**仿真**模式的加入，方便了环境验证和硬件故障排查。
4. 将默认手部映射算法从 Vector 切换为 **DexPilot**，优化了指尖捏合的精度与交互体验。
5. 其他一些优化
## 🏷️ v0.5 (oldvuer)
1. 该版本曾经命名为 `avp_teleoperate`
2. 支持 'G1_29', 'G1_23', 'H1_2', 'H1' 机器人类型
3. 支持 'dex3', 'gripper', 'inspire1' 末端执行器类型
4. 仅支持 XR 设备的手部跟踪模式（ [Vuer](https://github.com/vuer-ai/vuer) 版本为 v0.0.32RC7），不支持控制器模式
5. 支持数据录制模式
- 添加 [![Unitree LOGO](https://camo.githubusercontent.com/ff307b29fe96a9b115434a450bb921c2a17d4aa108460008a88c58a67d68df4e/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f4769744875622d57696b692d3138313731373f6c6f676f3d676974687562)](https://github.com/unitreerobotics/xr_teleoperate/wiki) [![Unitree LOGO](https://camo.githubusercontent.com/6f5253a8776090a1f89fa7815e7543488a9ec200d153827b4bc7c3cb5e1c1555/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f2d446973636f72642d3538363546323f7374796c653d666c6174266c6f676f3d446973636f7264266c6f676f436f6c6f723d7768697465)](https://discord.gg/ZwcVwxv5rq)
- 支持 **IPC 模式**，默认使用 SSHKeyboard 进行输入控制。
- 合并 **H1_2** 机器人新增运动模式支持。
- 合并 **G1_23** 机械臂新增运动模式支持。
- ···
# 0. 📖 介绍
@ -486,84 +462,7 @@ xr_teleoperate/
# 5. 🛠️ 硬件
## 5.1 📋 清单
| 项目 | 数量 | 链接 | 备注 |
| :-----------------------: | :--: | :----------------------------------------------------------: | :----------------------------------------------------------: |
| **宇树通用人形机器人 G1** | 1 | https://www.unitree.com/cn/g1 | 需选配开发计算单元版本 |
| **XR 设备** | 1 | https://www.apple.com.cn/apple-vision-pro/<br />https://www.meta.com/quest/quest-3<br />https://www.picoxr.com/products/pico4-ultra-enterprise | |
| 路由器 | 1 | | 常规模式必须，无线模式不需要 |
| **用户电脑** | 1 | | 仿真模式下请使用[官方推荐](https://docs.isaacsim.omniverse.nvidia.com/4.5.0/installation/requirements.html)的硬件资源进行部署使用 |
| **头部双目相机** | 1 | [仅供参考] http://e.tb.cn/h.TaZxgkpfWkNCakg?tk=KKz03Kyu04u | 用于机器人头部视野 |
| **头部相机支架** | 1 | https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/head_stereo_camera_mount.STEP | 用于装配头部相机 |
| 英特尔 RealSense D405相机 | 2 | https://www.intelrealsense.com/depth-camera-d405/ | 用于腕部灵巧操作视野 |
| 腕部相机环形支架 | 2 | https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/wrist_ring_mount.STEP | 与腕部相机支架搭配使用 |
| 左腕相机支架 | 1 | https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/left_wrist_D405_camera_mount.STEP | 用于装配左腕D405相机 |
| 右腕相机支架 | 1 | https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/right_wrist_D405_camera_mount.STEP | 用于装配右腕D405相机 |
| M3-1 六角螺母 | 4 | [仅供参考] https://a.co/d/gQaLtHD | 用于腕部紧固件 |
| M3x12 螺钉 | 4 | [仅供参考] https://amzn.asia/d/aU9NHSf | 用于腕部紧固件 |
| M3x6 螺钉 | 4 | [仅供参考] https://amzn.asia/d/0nEz5dJ | 用于腕部紧固件 |
| **M4x14 螺钉** | 2 | [仅供参考] https://amzn.asia/d/cfta55x | 用于头部紧固件 |
| **M2x4 自攻螺钉** | 4 | [仅供参考] https://amzn.asia/d/1msRa5B | 用于头部紧固件 |
> 注意：加粗项目是进行遥操作任务时的必需设备，其余项目是录制[数据集](https://huggingface.co/unitreerobotics)时的可选设备。
## 5.2 🔨 安装示意图
<table>
<tr>
<th align="center">项目</th>
<th align="center" colspan="2">仿真</th>
<th align="center" colspan="2">实物</th>
</tr>
<tr>
<td align="center">头部</td>
<td align="center">
<p align="center">
<img src="./img/head_camera_mount.png" alt="head" width="100%">
<figcaption>头部支架</figcaption>
</p>
</td>
<td align="center">
<p align="center">
<img src="./img/head_camera_mount_install.png" alt="head" width="80%">
<figcaption>装配侧视</figcaption>
</p>
</td>
<td align="center" colspan="2">
<p align="center">
<img src="./img/real_head.jpg" alt="head" width="20%">
<figcaption>装配正视</figcaption>
</p>
</td>
</tr>
<tr>
<td align="center">腕部</td>
<td align="center" colspan="2">
<p align="center">
<img src="./img/wrist_and_ring_mount.png" alt="wrist" width="100%">
<figcaption>腕圈及相机支架</figcaption>
</p>
</td>
<td align="center">
<p align="center">
<img src="./img/real_left_hand.jpg" alt="wrist" width="50%">
<figcaption>装配左手</figcaption>
</p>
</td>
<td align="center">
<p align="center">
<img src="./img/real_right_hand.jpg" alt="wrist" width="50%">
<figcaption>装配右手</figcaption>
</p>
</td>
</tr>
</table>
> 注意：如图中红圈所示，腕圈支架与机器人手腕接缝对齐。
请查看 [硬件文档](Device_zh-CN.md).
# 6. 🙏 鸣谢

4
assets/brainco_hand/brainco.yml
View File

@ -28,7 +28,7 @@ left:
# For example, Allegro is 1.6 times larger than normal human hand, then this scaling factor should be 1.6
scaling_factor: 1.00
# A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
low_pass_alpha: 0.5
low_pass_alpha: 0.2
right:
type: DexPilot # or vector
@ -58,4 +58,4 @@ right:
# For example, Allegro is 1.6 times larger than normal human hand, then this scaling factor should be 1.6
scaling_factor: 1.00
# A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
low_pass_alpha: 0.5
low_pass_alpha: 0.2

2
teleop/utils/ipc.py
View File

@ -3,7 +3,7 @@ import zmq
import time
import threading
import logging_mp
logger_mp = logging_mp.get_logger(__name__)
logger_mp = logging_mp.get_logger(__name__, level=logging_mp.INFO)
"""
# Client → Server (Request)

Write Preview
Loading…
Cancel
Save