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

[update]README for inspire hand.

main
silencht 7 months ago
parent
fc3f49d191
commit
6a9ceefce2
2 changed files with 28 additions and 20 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 24
      README.md
  2. 24
      README_zh-CN.md

24
README.md
View File

@ -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 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: On Unitree robot's **PC2**, execute command:
```bash ```bash
unitree@PC2:~$ sudo apt install libboost-all-dev libspdlog-dev unitree@PC2:~$ sudo apt install libboost-all-dev libspdlog-dev
# Build project # 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 # 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) ## 3.3 ✋ BrainCo Hand Service (Optional)

24
README_zh-CN.md
View File

@ -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： 在宇树机器人的 **PC2** 上，执行命令：
```bash ```bash
unitree@PC2:~$ sudo apt install libboost-all-dev libspdlog-dev unitree@PC2:~$ sudo apt install libboost-all-dev libspdlog-dev
# 构建项目 # 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 # 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） ## 3.3 ✋BrainCo 手部服务（可选）

Write Preview
Loading…
Cancel
Save