[update] readme and fix test

README.md

@@ -5,6 +5,10 @@ The TeleVuer library is a specialized version of the Vuer library, designed to e
 Currently, this module serves as a core component of the [xr_teleoperate](https://github.com/unitreerobotics/xr_teleoperate) library, offering advanced functionality for teleoperation tasks. It supports various XR devices, including Apple Vision Pro, Meta Quest3, Pico 4 Ultra Enterprise etc., ensuring compatibility and ease of use for robotic teleoperation applications.
 
 ## Release Note
+V3.0 brings updates:
+1. Added `pass_through` interface to enable/disable the pass-through mode.
+2. Support `webrtc` interface to enable/disable the webrtc streaming mode.
+3. Use `render_to_xr` method (adjust from `set_display_image`) to send images to XR device.
 
 V2.0 brings updates:
 
@@ -15,6 +19,14 @@ V2.0 brings updates:
 5. Streamlined the data structure: removed the nested `TeleStateData` and return everything in the unified `TeleData`.
 6. Added new image-transport interfaces such as `set_display_image`.
 
+## Diagram
+
+<p align="center">
+  <a href="https://oss-global-cdn.unitree.com/static/5ae3c9ee9a3d40dc9fe002281e8aeac1_2975x3000.png">
+    <img src="https://oss-global-cdn.unitree.com/static/5ae3c9ee9a3d40dc9fe002281e8aeac1_2975x3000.png" alt="Diagram" style="width: 50%;">
+  </a>
+</p>
+
 ## Install
 
 ```bash
@@ -33,7 +45,7 @@ python _test_tv_wrapper.py
 # First, use Apple Vision Pro or Pico 4 Ultra Enterprise to connect to the same Wi-Fi network as your computer.
 # Next, open safari / pico browser, enter https://host machine's ip:8012/?ws=wss://host machine's ip:8012
 # for example, https://192.168.123.2:8012?ws=wss://192.168.123.2:8012
-# Use the appropriate method (hand gesture or controller) to click the "Virtual Reality" button in the bottom-left corner of the screen.
+# Use the appropriate method (hand gesture or controller) to click the "pass-through" button in the bottom-left corner of the screen.
 
 # Press Enter in the terminal to launch the program.
 ```

test/_test_televuer.py

@@ -6,38 +6,19 @@ if project_root not in sys.path:
 
 import time
 from televuer import TeleVuer
-# image client. if you want to test with real image stream,
-# please copy image_client.py and messaging.py from xr_teleoperate/teleop/image_server to the current directory before running this test script
-# from image_client import ImageClient
 import logging_mp
 logger_mp = logging_mp.get_logger(__name__, level=logging_mp.INFO)
 
 def run_test_TeleVuer():
-    head_binocular = True
-    head_img_shape = (480, 1280, 3)  # default image
-
-    # img_client = ImageClient(host="127.0.0.1") # 127.0.0.1 is localhost, 192.168.123.164 is unitree robot's host ip
-    # if not img_client.has_head_cam():
-    #     logger_mp.error("Head camera is required. Please enable head camera on the image server side.")
-    # head_img_shape = img_client.get_head_shape()
-    # head_binocular = img_client.is_binocular()
-
     # xr-mode
     use_hand_track = True
-    use_image = True
-    webrtc = True
-    tv = TeleVuer(binocular = head_binocular, use_hand_tracking = use_hand_track, img_shape = head_img_shape, 
-                  use_image=use_image, webrtc=webrtc)
+    tv = TeleVuer(use_hand_tracking = use_hand_track, pass_through=True)
 
     try:
         input("Press Enter to start TeleVuer test...")
         running = True
         while running:
             start_time = time.time()
-            # image client
-            # head_img, head_img_fps = img_client.get_head_frame()
-            # tv.set_display_image(head_img)
-            
             logger_mp.info("=" * 80)
             logger_mp.info("Common Data (always available):")
             logger_mp.info(f"head_pose shape: {tv.head_pose.shape}\n{tv.head_pose}\n")
@@ -89,7 +70,6 @@ def run_test_TeleVuer():
         logger_mp.warning("KeyboardInterrupt, exiting program...")
     finally:
         tv.close()
-        # img_client.close()
         logger_mp.warning("Finally, exiting program...")
         exit(0)
 

test/_test_tv_wrapper.py

@@ -6,40 +6,29 @@ if project_root not in sys.path:
 
 import time
 from televuer import TeleVuerWrapper
-# image client. if you want to test with real image stream,
-# please copy image_client.py and messaging.py from xr_teleoperate/teleop/image_server to the current directory before running this test script
-# from image_client import ImageClient
 import logging_mp
 logger_mp = logging_mp.get_logger(__name__, level=logging_mp.INFO)
 
 
 def run_test_tv_wrapper():
-    head_binocular = True
-    head_img_shape = (480, 1280, 3)  # default image shape
-
-    # img_client = ImageClient(host="127.0.0.1") # 127.0.0.1 is localhost, 192.168.123.164 is unitree robot's host ip
-    # if not img_client.has_head_cam():
-    #     logger_mp.error("Head camera is required. Please enable head camera on the image server side.")
-    # head_img_shape = img_client.get_head_shape()
-    # head_binocular = img_client.is_binocular()
-
     # xr-mode
     use_hand_track=False
-    use_image=True
-    webrtc=True
-    tv_wrapper = TeleVuerWrapper(binocular=head_binocular, use_hand_tracking=use_hand_track, img_shape=head_img_shape, return_hand_rot_data = True,
-                                 use_image=use_image, webrtc=webrtc)
+    tv_wrapper = TeleVuerWrapper(use_hand_tracking=use_hand_track, pass_through=True, return_hand_rot_data=False,
+                                #  binocular=False, img_shape=(480, 1280, 3),
+                                #  webrtc=False, webrtc_url="https://127.0.0.1:60001/offer"
+                                )
     try:
         input("Press Enter to start tv_wrapper test...")
         running = True
         while running:
             start_time = time.time()
-            # image client
-            # head_img, head_img_fps = img_client.get_head_frame()
-            # tv_wrapper.set_display_image(head_img)
             logger_mp.info("---- TV Wrapper TeleData ----")
             teleData = tv_wrapper.get_tele_data()
 
+            # import cv2
+            # img = cv2.videoCapture(0).read()[1]
+            # tv_wrapper.render_to_xr(img)
+
             logger_mp.info("-------------------=== TeleData Snapshot ===-------------------")
             logger_mp.info(f"[Head Pose]:\n{teleData.head_pose}")
             logger_mp.info(f"[Left Wrist Pose]:\n{teleData.left_wrist_pose}")
@@ -82,7 +71,6 @@ def run_test_tv_wrapper():
         logger_mp.warning("KeyboardInterrupt, exiting program...")
     finally:
         tv_wrapper.close()
-        # img_client.close()
         logger_mp.warning("Finally, exiting program...")
         exit(0)