diff --git a/README.md b/README.md
index f81257c..4574edd 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,20 @@
+
+
avp_teleoperate
+
Unitree Robotics
+
+ English | 中文
+
+
+
+
+
+ 
+
+
+
+
# 0. 📖 Introduction
This repository implements teleoperation of the **Unitree humanoid robot** using **Apple Vision Pro**.
@@ -13,25 +27,30 @@ Here are the robots that will be supported,
⚪ Status |
- | G1(29DoF) + Dex3-1 |
+ G1 (29DoF) + Dex3-1 |
✅ Completed |
- | G1(23DoF) |
+ G1 (23DoF) |
⏱ In Progress |
- | H1(Arm 4DoF) |
+ H1 (Arm 4DoF) |
⏱ In Progress |
- | H1_2(Arm 7DoF) + Inspire |
+ H1_2 (Arm 7DoF) + Inspire |
⏱ In Progress |
+
+ | ··· |
+ ··· |
+
+
# 1. 📦 Prerequisites
We tested our code on Ubuntu 20.04 and Ubuntu 22.04, other operating systems may be configured differently.
@@ -78,10 +97,10 @@ cd act/detr && pip install -e .
## 2.2 🔌 Local streaming
-**Apple** does not allow WebXR on non-https connections. To test the application locally, we need to create a self-signed certificate and install it on the client. You need a ubuntu machine and a router. Connect the VisionPro and the ubuntu machine to the same router.
+**Apple** does not allow WebXR on non-https connections. To test the application locally, we need to create a self-signed certificate and install it on the client. You need a ubuntu machine and a router. Connect the Apple Vision Pro and the ubuntu **Host machine** to the same router.
1. install mkcert: https://github.com/FiloSottile/mkcert
-2. check local ip address:
+2. check **Host machine** local ip address:
```bash
ifconfig | grep inet
@@ -97,7 +116,7 @@ Suppose the local ip address of the **Host machine** is `192.168.123.2`
mkcert -install && mkcert -cert-file cert.pem -key-file key.pem 192.168.123.2 localhost 127.0.0.1
```
-ps. place the generated cert.pem and key.pem files in `teleop`.
+place the generated `cert.pem` and `key.pem` files in `teleop`
```bash
cp cert.pem key.pem ~/avp_teleoperate/teleop/
@@ -109,13 +128,13 @@ cp cert.pem key.pem ~/avp_teleoperate/teleop/
sudo ufw allow 8012
```
-5. install ca-certificates on VisionPro:
+5. install ca-certificates on Apple Vision Pro:
```
mkcert -CAROOT
```
-Copy the `rootCA.pem` via AirDrop to VisionPro and install it.
+Copy the `rootCA.pem` via AirDrop to Apple Vision Pro and install it.
Settings > General > About > Certificate Trust Settings. Under "Enable full trust for root certificates", turn on trust for the certificate.
@@ -162,10 +181,13 @@ Please read the [Official Documentation ](https://support.unitree.com/home/zh/T
## 3.1 🖼️ Image Server
-Copy `image_server.py` in the `avp_teleoperate/teleop/image_server` directory to the **PC2** of Unitree Robot (G1/H1/H1_2/etc.), and execute the following command **in the PC2**:
+Copy `image_server.py` in the `avp_teleoperate/teleop/image_server` directory to the **Development Computing Unit PC2** of Unitree Robot (G1/H1/H1_2/etc.), and execute the following command **in the PC2**:
```bash
-# Now located in Unitree Robot PC2
+# p.s.1 You can transfer image_server.py to PC2 via the scp command and then use ssh to remotely login to PC2 to execute it.
+# p.s.2 The image transfer program is currently configured for binocular rgb cameras.
+
+# Now located in Unitree Robot PC2 terminal
python image_server.py
# You can see the terminal output as follows:
# Image server has started, waiting for client connections...
@@ -180,9 +202,9 @@ python image_client.py
## 3.2 ✋ Inspire hands Server (optional)
-You can refer to [Dexterous Hand Development](https://support.unitree.com/home/zh/H1_developer/Dexterous_hand) to configure related environments and compile control programs. First, use [this URL](https://oss-global-cdn.unitree.com/static/0a8335f7498548d28412c31ea047d4be.zip) to download the dexterous hand control interface program. Copy it to PC of Unitree H1_2.
+You can refer to [Dexterous Hand Development](https://support.unitree.com/home/zh/H1_developer/Dexterous_hand) to configure related environments and compile control programs. First, use [this URL](https://oss-global-cdn.unitree.com/static/0a8335f7498548d28412c31ea047d4be.zip) to download the dexterous hand control interface program. Copy it to **PC2** of Unitree robots.
-On Unitree H1_2's PC, execute command:
+On Unitree robot's **PC2**, execute command:
```bash
sudo apt install libboost-all-dev libspdlog-dev
@@ -230,13 +252,15 @@ At this time, **Operator A** can remotely control the robot's arms and dexterous
Next, **Operator B** can press **s** key to begin recording data in the 'record image' window that opens, and press **s** again to stop. This can be repeated as necessary.
+> p.s. Recorded data is stored in `avp_teleoperate/teleop/data` by default, with usage instructions at this repo: [unitree_IL_lerobot](https://github.com/unitreerobotics/unitree_IL_lerobot/tree/main?tab=readme-ov-file#data-collection-and-conversion).
+
## 3.4 🔚 Exit
To exit the program, **Operator B** can press the **q** key in the 'record image' window.
> 
>
-> To avoid damaging the robot, **Operator A** need to make sure the robot's arms are in a natural down position before exiting.
+> To avoid damaging the robot, it's best to ensure that **Operator A** positions the robot's arms in a naturally lowered or appropriate position before **Operator B** presses **q** to exit.
diff --git a/README_zh-CN.md b/README_zh-CN.md
new file mode 100644
index 0000000..ed6694e
--- /dev/null
+++ b/README_zh-CN.md
@@ -0,0 +1,308 @@
+
+
avp_teleoperate
+
Unitree Robotics
+
+ English | 中文
+
+
+
+ 
+
+
+
+# 0. 📖 介绍
+
+该仓库实现了使用 **Apple Vision Pro** 对 **宇树（Unitree）人形机器人** 的遥操作控制。
+
+以下是本仓库将支持的机器人类型：
+
+
+
+ | 🤖 机器人 |
+ ⚪ 状态 |
+
+
+ | G1 (29自由度) + Dex3-1 |
+ ✅ 完成 |
+
+
+ | G1 (23自由度) |
+ ⏱ 进行中 |
+
+
+ | H1 (手臂4自由度) |
+ ⏱ 进行中 |
+
+
+ | H1_2 (手臂7自由度) + Inspire |
+ ⏱ 进行中 |
+
+
+ | ··· |
+ ··· |
+
+
+
+
+
+# 1. 📦 前置条件
+
+我们在 Ubuntu 20.04 和 Ubuntu 22.04 上测试了我们的代码，其他操作系统可能需要不同的配置。
+
+有关更多信息，您可以参考 [官方文档](https://support.unitree.com/home/zh/Teleoperation) 和 [OpenTeleVision](https://github.com/OpenTeleVision/TeleVision)。
+
+## 1.1 🦾 逆运动学
+
+```bash
+conda create -n tv python=3.8
+conda activate tv
+# 如果您使用 `pip install`，请确保 pinocchio 版本为 3.1.0
+conda install pinocchio -c conda-forge
+pip install meshcat
+pip install casadi
+```
+
+## 1.2 🕹️ unitree_dds_wrapper
+
+```bash
+# 安装 unitree_dds_wrapper 的 Python 版本
+git clone https://github.com/unitreerobotics/unitree_dds_wrapper.git
+cd unitree_dds_wrapper/python
+pip install -e .
+```
+
+> 注意：这是一个临时版本，未来将被 [unitree_sdk2_python](https://github.com/unitreerobotics/unitree_sdk2_python) 取代。
+
+
+
+# 2. 🛠️ TeleVision 和 Apple Vision Pro 配置
+
+## 2.1 📥 基础
+
+```bash
+cd ~
+git clone https://github.com/unitreerobotics/avp_teleoperate.git
+cd ~/avp_teleoperate
+pip install -r requirements.txt
+cd act/detr && pip install -e .
+```
+
+## 2.2 🔌 本地流媒体
+
+**Apple** 不允许在非 HTTPS 连接上使用 WebXR。要在本地测试应用程序，我们需要创建一个自签名证书并在客户端上安装它。您需要一台 Ubuntu 机器和一个路由器。将 Apple Vision Pro 和 Ubuntu **主机**连接到同一个路由器。
+
+1. 安装 mkcert：https://github.com/FiloSottile/mkcert
+2. 检查**主机**本地 IP 地址：
+
+```bash
+ifconfig | grep inet
+```
+
+假设 **主机** 的本地 IP 地址为 `192.168.123.2`
+
+> 注意：您可以使用 `ifconfig` 命令检查您的 **主机** IP 地址。
+
+3. 创建证书：
+
+```bash
+mkcert -install && mkcert -cert-file cert.pem -key-file key.pem 192.168.123.2 localhost 127.0.0.1
+```
+
+将生成的 `cert.pem` 和 `key.pem` 文件放在 `teleop` 目录中
+
+```bash
+cp cert.pem key.pem ~/avp_teleoperate/teleop/
+```
+
+4. 在服务器上打开防火墙：
+
+```bash
+sudo ufw allow 8012
+```
+
+5. 在 Apple Vision Pro 上安装 CA 证书：
+
+```bash
+mkcert -CAROOT
+```
+
+通过 AirDrop 将 `rootCA.pem` 复制到 Apple Vision Pro 并安装它。
+
+设置 > 通用 > 关于本机 > 证书信任设置。在“启用对根证书的完全信任”下，打开对证书的信任。
+
+设置 > 应用 > Safari > 高级 > 功能标志 > 启用 WebXR 相关功能。
+
+## 2.3 🔎 测试环境
+
+此步骤用于验证环境是否正确安装。
+
+1. 下载 Isaac Gym：https://developer.nvidia.com/isaac-gym/download
+
+ 解压到当前目录，进入 `IsaacGym_Preview_4_Package/isaacgym/python` 目录，执行命令：
+
+ ```bash
+ pip install -e .
+ ```
+
+2. 按照上述说明设置本地流媒体后，您可以尝试在 Isaac Gym 中远程操作两个机器人手：
+
+ ```bash
+ cd teleop
+ python teleop_test_gym.py
+ ```
+
+3. 戴上您的 Apple Vision Pro 设备。
+
+4. 在 Apple Vision Pro 上打开 Safari，访问：https://192.168.123.2:8012?ws=wss://192.168.123.2:8012
+
+ > 注意：此 IP 地址应与您的 **主机** IP 地址匹配。
+
+5. 点击 `Enter VR` 并选择 `Allow` 以启动 VR 会话。
+
+6. 在 3D 中看到您的手！
+
+
+
+