From 6a9ceefce2ca70a78f2a996a8b73fa7624466349 Mon Sep 17 00:00:00 2001 From: silencht Date: Mon, 18 Aug 2025 11:26:08 +0800 Subject: [PATCH] [update]README for inspire hand. --- README.md | 24 ++++++++++++++---------- README_zh-CN.md | 24 ++++++++++++++---------- 2 files changed, 28 insertions(+), 20 deletions(-) diff --git a/README.md b/README.md index 99888d0..94a4b99 100644 --- a/README.md +++ b/README.md @@ -334,27 +334,31 @@ After image service is started, you can use `image_client.py` **in the Host** te > **Note 1**: Skip this if your config does not use the Inspire hand. > -> **Note 2**: For the G1 robot with [Inspire DFX hand](https://support.unitree.com/home/zh/G1_developer/inspire_dfx_dexterous_hand), see [issue #46](https://github.com/unitreerobotics/xr_teleoperate/issues/46). +> **Note 2**: For G1 robot with [Inspire DFX hand](https://support.unitree.com/home/zh/G1_developer/inspire_dfx_dexterous_hand), related issue [#46](https://github.com/unitreerobotics/xr_teleoperate/issues/46). > -> **Note 3**: For [Inspire FTP hand]((https://support.unitree.com/home/zh/G1_developer/inspire_ftp_dexterity_hand)), see [issue #48](https://github.com/unitreerobotics/xr_teleoperate/issues/48). +> **Note 3**: For [Inspire FTP hand]((https://support.unitree.com/home/zh/G1_developer/inspire_ftp_dexterity_hand)), related issue [#48](https://github.com/unitreerobotics/xr_teleoperate/issues/48). -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. +First, use [this URL: DFX_inspire_service](https://github.com/unitreerobotics/DFX_inspire_service) to clone the dexterous hand control interface program. And Copy it to **PC2** of Unitree robots. On Unitree robot's **PC2**, execute command: ```bash unitree@PC2:~$ sudo apt install libboost-all-dev libspdlog-dev # Build project -unitree@PC2:~$ cd h1_inspire_service & mkdir build & cd build -unitree@PC2:~/h1_inspire_service/build$ cmake .. -DCMAKE_BUILD_TYPE=Release -unitree@PC2:~/h1_inspire_service/build$ make -# Terminal 1. Run h1 inspire hand service -unitree@PC2:~/h1_inspire_service/build$ sudo ./inspire_hand -s /dev/ttyUSB0 +unitree@PC2:~$ cd DFX_inspire_service && mkdir build && cd build +unitree@PC2:~/DFX_inspire_service/build$ cmake .. +unitree@PC2:~/DFX_inspire_service/build$ make -j6 + +# (For unitree g1) Terminal 1. +unitree@PC2:~/DFX_inspire_service/build$ sudo ./inspire_g1 +# or (For unitree h1) Terminal 1. +unitree@PC2:~/DFX_inspire_service/build$ sudo ./inspire_h1 -s /dev/ttyUSB0 + # Terminal 2. Run example -unitree@PC2:~/h1_inspire_service/build$ ./h1_hand_example +unitree@PC2:~/DFX_inspire_service/build$ ./hand_example ``` -If two hands open and close continuously, it indicates success. Once successful, close the `./h1_hand_example` program in Terminal 2. +If two hands open and close continuously, it indicates success. Once successful, close the `./hand_example` program in Terminal 2. ## 3.3 ✋ BrainCo Hand Service (Optional) diff --git a/README_zh-CN.md b/README_zh-CN.md index 381a2c5..da7ad51 100644 --- a/README_zh-CN.md +++ b/README_zh-CN.md @@ -368,27 +368,31 @@ unitree@PC2:~/image_server$ python image_server.py > 注意1：如果选择的机器人配置中没有使用 Inspire 系列灵巧手，那么请忽略本节内容。 > -> 注意2：如果选择的G1机器人配置，且使用 [Inspire DFX 灵巧手](https://support.unitree.com/home/zh/G1_developer/inspire_dfx_dexterous_hand)，那么请参考 [issue #46](https://github.com/unitreerobotics/xr_teleoperate/issues/46)。 +> 注意2：如果选择的G1机器人配置，且使用 [Inspire DFX 灵巧手](https://support.unitree.com/home/zh/G1_developer/inspire_dfx_dexterous_hand)，相关issue [#46](https://github.com/unitreerobotics/xr_teleoperate/issues/46)。 > -> 注意3：如果选择的机器人配置中使用了 [Inspire FTP 灵巧手](https://support.unitree.com/home/zh/G1_developer/inspire_ftp_dexterity_hand)，那么请参考 [issue #48](https://github.com/unitreerobotics/xr_teleoperate/issues/48)。 +> 注意3：如果选择的机器人配置中使用了 [Inspire FTP 灵巧手](https://support.unitree.com/home/zh/G1_developer/inspire_ftp_dexterity_hand)，相关issue [ #48](https://github.com/unitreerobotics/xr_teleoperate/issues/48)。 -您可以参考 [H1-DFX灵巧手开发](https://support.unitree.com/home/zh/H1_developer/Dexterous_hand) 配置相关环境并编译控制程序。首先，使用 [此链接](https://oss-global-cdn.unitree.com/static/0a8335f7498548d28412c31ea047d4be.zip) 下载灵巧手控制接口程序，然后将其复制到宇树机器人的**PC2**。 +首先，使用 [此链接: DFX_inspire_service](https://github.com/unitreerobotics/DFX_inspire_service) 克隆灵巧手控制接口程序，然后将其复制到宇树机器人的**PC2**。 在宇树机器人的 **PC2** 上，执行命令： ```bash unitree@PC2:~$ sudo apt install libboost-all-dev libspdlog-dev # 构建项目 -unitree@PC2:~$ cd h1_inspire_service & mkdir build & cd build -unitree@PC2:~/h1_inspire_service/build$ cmake .. -DCMAKE_BUILD_TYPE=Release -unitree@PC2:~/h1_inspire_service/build$ make -# 终端 1. 运行 h1 inspire 手部服务 -unitree@PC2:~/h1_inspire_service/build$ sudo ./inspire_hand -s /dev/ttyUSB0 +unitree@PC2:~$ cd DFX_inspire_service && mkdir build && cd build +unitree@PC2:~/DFX_inspire_service/build$ cmake .. +unitree@PC2:~/DFX_inspire_service/build$ make -j6 + +# （For unitree g1）终端 1. +unitree@PC2:~/DFX_inspire_service/build$ sudo ./inspire_g1 +# 或（For unitree h1）终端 1. +unitree@PC2:~/DFX_inspire_service/build$ sudo ./inspire_h1 -s /dev/ttyUSB0 + # 终端 2. 运行示例 -unitree@PC2:~/h1_inspire_service/build$ ./h1_hand_example +unitree@PC2:~/DFX_inspire_service/build$ ./hand_example ``` -如果两只手连续打开和关闭，则表示成功。一旦成功，即可关闭终端 2 中的 `./h1_hand_example` 程序。 +如果两只手连续打开和关闭，则表示成功。一旦成功，即可关闭终端 2 中的 `./hand_example` 程序。 ## 3.3 ✋BrainCo 手部服务（可选）