g1-teleop

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268 MiB

Author	SHA1	Message	Date
melancholytron	944498b0bd	Add per-joint scale+offset calibration, hand tracker wrist, calibration tools - Replace flat JOINT_GAIN with per-joint JOINT_SCALE/JOINT_OFFSET linear mapping for accurate retargeting (l_shoulder_pitch/roll/yaw, l_elbow calibrated) - Switch shoulder parent from chest to hips to avoid head rotation contamination - Add solo-joint mode (--solo-joint) for isolating single joints during testing - Use XRHandTracker wrist transforms in body_tracker.gd for better wrist rotation - Add joint_test.py for single-joint animation with pause-at-peak support - Add joint_calibrate.py for XR-to-robot range calibration with scale+offset output - Add calibration_log.md documenting extent tuning and axis mappings - Disable waist/right arm/hands temporarily for left-arm-only testing Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>	4 weeks ago
melancholytron	9dcf950f2a	Add in-VR numpad for IP/port input, update default server to 10.0.0.77 Quest system keyboard doesn't work in immersive XR mode, so added a numpad overlay that appears when tapping input fields. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>	4 weeks ago
melancholytron	579875413f	Add retargeting bridge for Isaac Sim teleoperation Adds a joint retargeting bridge that converts Quest 3 body tracking data into G1 robot joint commands for Isaac Sim via CycloneDDS. - Extend body_tracker.gd with 8 body joint transforms (56 floats) - Extend teleop_server.py with body_joints_shared memory - Add retarget_bridge.py: body retargeting, hand mapping, DDS publishing - Add launch_bridge.py: one-command launcher for sim + bridge - Update requirements.txt with unitree-sdk2py dependency Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>	4 weeks ago
melancholytron	baffbb7739	Add hand laser pointer, passthrough, gaze balls, G1 models, and recenter support - Hand tracking laser pointer with pinch-to-click gesture for menu interaction - Meta Quest passthrough (alpha blend + XR_FB_PASSTHROUGH extension) - Stationary webcam quad (moved from XRCamera3D to XROrigin3D) - Gaze-activated exit balls (4 balls: exit AR, 2 reserved, quit app) - Gaze laser beam and ball growth visual feedback - Spinning G1 3D model flanking the start screen menu - Recenter support via pose_recentered signal - Exit AR mode returns to CONFIG phase with UI repositioning Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>	1 month ago
melancholytron	8afe9ac201	Add start screen UI, hand/body tracking, upgrade to Godot 4.6.1 - Two-phase startup: CONFIG phase (VR start screen) -> AR phase (passthrough) - Start screen with server host/port input, connect button, and launch AR button - VR UI pointer with controller ray-pointing and hand poke interaction - Body tracking visualization with colored spheres (spine, head, arms) - Hand tracking with camera-based tracking (no controllers required) - Android flavor manifest for Quest hand/body tracking permissions - Upgrade OpenXR Vendors plugin from v3.1.2 to v4.3.0-stable - Export presets updated for Godot 4.6.1 Meta plugin format - Build scripts for Godot 4.6.1 with vendor plugin setup Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>	1 month ago
Joe DiPrima	321ae3c322	Initial commit: Native Quest 3 teleop app with body tracking Godot 4.3 project for Quest 3 that replaces the browser-based WebXR teleoperation with a native app using XR_FB_body_tracking (70 joints). Key advantage: chest-relative wrist tracking eliminates head-position subtraction artifacts and decouples body rotation from arm control. Godot app: body_tracker.gd, teleop_client.gd, webcam_display.gd Robot server: teleop_server.py (WebSocket, replaces Vuer ~900→~250 lines) Drop-in wrapper: native_tv_wrapper.py (compatible with teleop_hand_and_arm.py) Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>	1 month ago

6 Commits (944498b0bd00ecdab4beec7e9cf27487197d38e7)