From 4e8dd0df65a4939c584940bbcc503b11a9a48977 Mon Sep 17 00:00:00 2001 From: silencht Date: Fri, 19 Sep 2025 20:58:12 +0800 Subject: [PATCH] [update] tag v1.3 --- CHANGELOG.md | 55 ++++++ CHANGELOG_zh-CN.md | 53 ++++++ Device.md | 303 ++++++++++++++++++++++++++++++++ Device_zh-CN.md | 303 ++++++++++++++++++++++++++++++++ README.md | 116 +----------- README_zh-CN.md | 117 +----------- assets/brainco_hand/brainco.yml | 4 +- teleop/utils/ipc.py | 2 +- 8 files changed, 733 insertions(+), 220 deletions(-) create mode 100644 CHANGELOG.md create mode 100644 CHANGELOG_zh-CN.md create mode 100644 Device.md create mode 100644 Device_zh-CN.md diff --git a/CHANGELOG.md b/CHANGELOG.md new file mode 100644 index 0000000..b0b2596 --- /dev/null +++ b/CHANGELOG.md @@ -0,0 +1,55 @@ +# 🔖 Release Note + +## 🏷️ v1.3 + +- add [![Unitree LOGO](https://camo.githubusercontent.com/ff307b29fe96a9b115434a450bb921c2a17d4aa108460008a88c58a67d68df4e/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f4769744875622d57696b692d3138313731373f6c6f676f3d676974687562)](https://github.com/unitreerobotics/xr_teleoperate/wiki) [![Unitree LOGO](https://camo.githubusercontent.com/6f5253a8776090a1f89fa7815e7543488a9ec200d153827b4bc7c3cb5e1c1555/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f2d446973636f72642d3538363546323f7374796c653d666c6174266c6f676f3d446973636f7264266c6f676f436f6c6f723d7768697465)](https://discord.gg/ZwcVwxv5rq) + +- Support **IPC mode**, defaulting to use SSHKeyboard for input control. +- Merged motion mode support for H1_2 robot. +- Merged motion mode support for the G1_23 robot arm. + +------ + +- Optimized data recording functionality. +- Improved gripper usage in simulation environment. + +------ + +- Fixed startup oscillation by initializing IK before controller activation. +- Fixed SSHKeyboard stop-listening bug. +- Fixed logic of the start button. +- Fixed various bugs in simulation mode. + +## 🏷️ v1.2 + +1. Upgrade the Dex1_1 gripper control code to be compatible with the [dex1_1 service](https://github.com/unitreerobotics/dex1_1_service) driver. + +## 🏷️ v1.1 + +1. Added support for a new end-effector type: **`brainco`**, which refers to the [Brain Hand](https://www.brainco-hz.com/docs/revolimb-hand/) developed by [BrainCo](https://www.brainco.cn/#/product/dexterous). +2. Changed the **DDS domain ID** to `1` in **simulation mode** to prevent conflicts during physical deployment. +3. Fixed an issue where the default frequency was set too high. + +## 🏷️ v1.0 (newvuer) + +1. Upgraded the [Vuer](https://github.com/vuer-ai/vuer) library to version **v0.0.60**, expanding XR device support to two modes: **hand tracking** and **controller tracking**. The project has been renamed from **`avp_teleoperate`** to **`xr_teleoperate`** to better reflect its broader capabilities. + + Devices tested include: Apple Vision Pro, Meta Quest 3 (with controllers), and PICO 4 Ultra Enterprise (with controllers). + +2. Modularized parts of the codebase and integrated **Git submodules** (`git submodule`) to improve code clarity and maintainability. + +3. Introduced **headless**, **motion control**, and **simulation** modes. Startup parameter configuration has been streamlined for ease of use (see Section 2.2). + The **simulation** mode enables environment validation and hardware failure diagnostics. + +4. Changed the default hand retargeting algorithm from *Vector* to **DexPilot**, enhancing the precision and intuitiveness of fingertip pinching interactions. + +5. Various other improvements and optimizations. + +## 🏷️ v0.5 (oldvuer) + +1. The repository was named **`avp_teleoperate`** in this version. +2. Supported robot included: `G1_29`, `G1_23`, `H1_2`, and `H1`. +3. Supported end-effectors included: `dex3`, `dex1(gripper)`, and `inspire1`. +4. Only supported **hand tracking mode** for XR devices (using [Vuer](https://github.com/vuer-ai/vuer) version **v0.0.32RC7**). + **Controller tracking mode** was **not** supported. +5. Data recording mode was available. \ No newline at end of file diff --git a/CHANGELOG_zh-CN.md b/CHANGELOG_zh-CN.md new file mode 100644 index 0000000..aa75c40 --- /dev/null +++ b/CHANGELOG_zh-CN.md @@ -0,0 +1,53 @@ +# 🔖 版本说明 + +## 🏷️ v1.3 + +- 添加 [![Unitree LOGO](https://camo.githubusercontent.com/ff307b29fe96a9b115434a450bb921c2a17d4aa108460008a88c58a67d68df4e/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f4769744875622d57696b692d3138313731373f6c6f676f3d676974687562)](https://github.com/unitreerobotics/xr_teleoperate/wiki) [![Unitree LOGO](https://camo.githubusercontent.com/6f5253a8776090a1f89fa7815e7543488a9ec200d153827b4bc7c3cb5e1c1555/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f2d446973636f72642d3538363546323f7374796c653d666c6174266c6f676f3d446973636f7264266c6f676f436f6c6f723d7768697465)](https://discord.gg/ZwcVwxv5rq) + +- 支持 **IPC 模式**，默认使用 SSHKeyboard 进行输入控制。 +- 合并 **H1_2** 机器人新增运动模式支持。 +- 合并 **G1_23** 机械臂新增运动模式支持。 + +------ + +- 优化了数据记录功能。 +- 改进了仿真环境中的夹持器（gripper）使用体验。 + +------ + +- 通过在控制器启动前初始化 IK，修复了启动时的抖动问题。 +- 修复了 SSHKeyboard 停止监听的 bug。 +- 修复了启动按钮逻辑错误。 +- 修复了仿真模式中的若干 bug。 + +## 🏷️ v1.2 + +1. 升级Dex1_1夹爪控制代码，匹配 [dex1_1 service](https://github.com/unitreerobotics/dex1_1_service) 驱动 + +## 🏷️ v1.1 + +1. 末端执行器类型新增'brainco'，这是[强脑科技第二代灵巧手](https://www.brainco-hz.com/docs/revolimb-hand/) +2. 为避免与实机部署时发生冲突，将仿真模式下的 dds 通道的domain id修改为1 +3. 修复默认频率过高的问题 + +## 🏷️ v1.0 (newvuer) + +1. 升级 [Vuer](https://github.com/vuer-ai/vuer) 库至 v0.0.60 版本，XR设备支持模式扩展为**手部跟踪**和**控制器跟踪**两种。为更准确反映功能范围，项目由 **avp_teleoperate** 更名为 **xr_teleoperate**。 + + 测试设备包括： Apple Vision Pro，Meta Quest 3（含手柄） 与 PICO 4 Ultra Enterprise（含手柄）。 + +2. 对部分功能进行了**模块化**拆分，并通过 Git 子模块（git submodule）方式进行管理和加载，提升代码结构的清晰度与维护性。 + +3. 新增**无头**、**运控**及**仿真**模式，优化启动参数配置（详见第2.2节），提升使用便捷性。**仿真**模式的加入，方便了环境验证和硬件故障排查。 + +4. 将默认手部映射算法从 Vector 切换为 **DexPilot**，优化了指尖捏合的精度与交互体验。 + +5. 其他一些优化 + +## 🏷️ v0.5 (oldvuer) + +1. 该版本曾经命名为 `avp_teleoperate` +2. 支持 'G1_29', 'G1_23', 'H1_2', 'H1' 机器人类型 +3. 支持 'dex3', 'gripper', 'inspire1' 末端执行器类型 +4. 仅支持 XR 设备的手部跟踪模式（ [Vuer](https://github.com/vuer-ai/vuer) 版本为 v0.0.32RC7），不支持控制器模式 +5. 支持数据录制模式 \ No newline at end of file diff --git a/Device.md b/Device.md new file mode 100644 index 0000000..752cb3a --- /dev/null +++ b/Device.md @@ -0,0 +1,303 @@ +# 5. 🛠️ Hardware + +## 5.1 🎮 Teleoperation Devices + +> The following items are required for teleoperation. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
ItemQuantitySpecificationRemarks
Unitree General Humanoid Robot G11https://www.unitree.com/cn/g1Developer computing unit version required
XR Device1 + apple-vision-pro
+ pico4-ultra-enterprise
+ quest-3
+ quest-3s
+ 		+ Please refer to our WiKi [XR_Device] +
Router1Recommended: at least WiFi6 supportRequired in wired mode; optional in wireless mode.
User Computer1Recommended x86-64 architecture + For simulation mode, please follow + NVIDIA official hardware recommendations + for deployment. +
Head Camera1 + Monocular camera (built-in Realsense D435i)
+ Stereo camera (external mount, see details at chapter 5.2) + 		+ Used for robot head perspective, stereo camera provides more immersion.
+ Driven by image_server +
USB3.0 Cable1 + Type-C double straight connectors, about 0.2m length + + For connecting the stereo head camera +
+ + +## 5.2 💽 Data Collection Devices + +> The following items are optional devices for recording [datasets](https://huggingface.co/unitreerobotics). Parameters, links, etc. are for **reference only**. + +### 5.2.1 Stereo Camera 60 FPS + +- Materials + +> Compared with the camera in Section 5.2.2, this one increases the frame rate from 30 FPS to 60 FPS, and its mounting dimensions differ. + +| Item | Quantity | Specification | Remarks | +| :---------------: | :------: | :----------------------------------------------------------: | :----------------------------------------------------------: | +| Stereo RGB Camera | 1 | [60FPS, 125°FOV, 60mm baseline](https://e.tb.cn/h.S2zMNwiUzC9I2H1) | For robot head perspective | +| M4x16mm Screws | 2 | [Reference](https://amzn.asia/d/cfta55x) | For fastening camera bracket | +| M2x5mm/6mm Screws | 8 | [Reference](https://amzn.asia/d/1msRa5B) | For fastening (camera - camera mount) and (camera mount - camera cover) | + +- 3D Printing Parts + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
ItemCamera BracketCamera Cover PlateUSB-Type-C ClampDownload Link
+
+ Classic Head (98mm) + 		📥 Classic 3D Printing Parts
+
+ Renewed Head (88mm) + 		📥 Renewed 3D Printing Parts
+ +### 5.2.2 Stereo Camera 30 FPS + +- Materials + +| Item | Quantity | Specification | Remarks | +| :---------------: | :------: | :----------------------------------------------------------: | :----------------------------------------------------------: | +| Stereo Camera | 1 | [30FPS, 125°FOV, 60mm baseline](http://e.tb.cn/h.TaZxgkpfWkNCakg) | For robot head perspective | +| M4x16mm Screws | 2 | [Reference](https://amzn.asia/d/cfta55x) | For fastening camera bracket | +| M2x5mm/6mm Screws | 8 | [Reference](https://amzn.asia/d/1msRa5B) | For fastening (camera - camera mount) and (camera mount - camera cover) | + +- 3D Printing Parts + + + + + + + + + + + + + + + + + + + + + + + + + + +
ItemCamera BracketCamera Cover PlateDownload Link
+
+ Classic Head (98mm) + 		None📥 Classic 3D Printing Parts
+
+ Renewed Head (88mm) + 		📥 Renewed 3D Printing Parts
+ +### 5.2.3 G1 Wrist RealSense D405 + +> RealSense D405 is recommended only for [Unitree Dex3-1](https://www.unitree.com/Dex3-1) end-effector use. + +- Materials + +| Item | Quantity | Specification | Remarks | +| :------------: | :------: | :----------------------------------------------------------: | :----------------------------------------------------------: | +| RealSense D405 | 2 | [Website](https://www.intelrealsense.com/depth-camera-d405/) | For G1 robot wrist (M4010 motors) left & right perspectives | +| USB3.0 Hub | 1 | [Issue](https://github.com/IntelRealSense/librealsense/issues/24) | Choose a high-quality hub; recommended to connect to [Type-C #9](https://support.unitree.com/home/en/G1_developer/about_G1) | +| M3-1 Hex Nut | 4 | [Reference](https://a.co/d/gQaLtHD) | For wrist fastening | +| M3x12 Screw | 4 | [Reference](https://amzn.asia/d/aU9NHSf) | For wrist fastening | +| M3x6 Screw | 4 | [Reference](https://amzn.asia/d/0nEz5dJ) | For wrist fastening | + +- 3D Printing Parts + +| Item | Quantity | Remarks | Download Link | +| :----------------------: | :------: | :----------------------------: | :----------------------------------------------------------: | +| D405 Wrist Ring | 2 | To be used with wrist mount | [📥 STEP](https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/wrist_ring_mount.STEP) | +| Left Wrist Camera Mount | 1 | For mounting left D405 camera | [📥 STEP](https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/left_wrist_D405_camera_mount.STEP) | +| Right Wrist Camera Mount | 1 | For mounting right D405 camera | [📥 STEP](https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/right_wrist_D405_camera_mount.STEP) | + +### 5.2.4 G1 Wrist Monocular Camera + +- Materials + +| Item | Quantity | Specification | Remarks | +| :---------------: | :------: | :----------------------------------------------------------: | :------------------------------------------------: | +| Monocular Camera | 2 | [60FPS, 160° FOV](https://e.tb.cn/h.S2YWUJan6ZP8Wqv?tk=MqHK4uvWlLk) | For G1 robot wrist (M4010 motors) left & right | +| USB3.0 Hub | 1 | [Reference](https://e.tb.cn/h.S2QB8hVuKbNfqb9?tk=XsBL4uwn2Ch) | For connecting two wrist cameras | +| M3-1 Hex Nut | 4 | [Reference](https://a.co/d/gQaLtHD) | For wrist fastening | +| M3x12 Screw | 4 | [Reference](https://amzn.asia/d/aU9NHSf) | For fastening wrist mount and ring | +| M2.5x5 Screw | 4 | [Reference](https://amzn.asia/d/0nEz5dJ) | For fastening cable clip and wrist bracket | +| M2x5mm/6mm Screws | 8 | [Reference](https://amzn.asia/d/1msRa5B) | For fastening (camera-bracket) and (bracket-cover) | + +- 3D Printing Parts + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
End-EffectorCamera MountWrist RingCamera Cover PlateCable ClipDownload Link
Unitree Dex1-1 + + + 📥 Download 3D Printing Parts +
Unitree Dex3-1
+ Inspire DFX Hand / + Brainco Hand +
+ + +## 5.3 🔨 Installation Illustrations (Partial) + + + + + + + + + + + + + + + + + + + +
ItemSimulationReal Device
Head +

+ head +

Head Bracket
+

+ 		+

+ head +

Assembly Side View
+

+ 		+

+ head +

Assembly Front View
+

+
Wrist +

+ wrist +

Wrist Ring & Camera Mount
+

+ 		+

+ wrist +

Assembly Left Hand
+

+ 		+

+ wrist +

Assembly Right Hand
+

+
+ + +> Note: As shown in the red circles, the wrist ring bracket must align with the wrist joint seam. \ No newline at end of file diff --git a/Device_zh-CN.md b/Device_zh-CN.md new file mode 100644 index 0000000..13387b8 --- /dev/null +++ b/Device_zh-CN.md @@ -0,0 +1,303 @@ + + +# 5. 🛠️ 硬件 + +## 5.1 🎮 遥操作设备 + +> 下方项目是遥操作时需要使用的设备。 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
项目数量规格备注
宇树通用人形机器人 G11https://www.unitree.com/cn/g1需选配开发计算单元版本
XR 设备1 + apple-vision-pro
+ pico4-ultra-enterprise
+ quest-3
+ quest-3s
+ 		+ Please Refer Our WiKi [XR_Device] +
路由器1推荐至少支持 WiFi6常规模式必须，无线模式可选。
用户电脑1推荐 x86-64 架构 + 仿真模式下请使用 + NVIDIA 官方推荐 + 的硬件资源进行部署使用 +
头部相机1 + 单目相机（机器人内置 Realsense D435i）
+ 双目相机（支架外置，详情见5.2节表格） + 		+ 用于机器人头部视野，双目相机更有沉浸感。
+ 使用 image_server 文件驱动 +
USB3.0 数据线1 + 双直头Type-C，长度0.2米左右 + + 用于连接头部双目相机 +
+ + +## 5.2 💽 数据采集设备 + +> 下方项目是录制[数据集](https://huggingface.co/unitreerobotics)时的可选设备。设备参数、链接等信息**仅供参考**。 + +### 5.2.1 双目相机 60 FPS + +- 物料 + +> 该相机与 5.2.2节相机区别是帧率从 30FPS 提升至 60FPS，且安装尺寸有所变化。 + +| 项目 | 数量 | 规格 | 备注 | +| :------------------: | :--: | :----------------------------------------------------------: | :----------------------------------------------: | +| 双目RGB相机 | 1 | [60FPS、125°FOV、60mm基线](https://e.tb.cn/h.S2zMNwiUzC9I2H1) | 用于机器人头部视角 | +| M4x16mm 螺钉 | 2 | [仅供参考](https://amzn.asia/d/cfta55x) | 用于相机支架紧固 | +| M2x5mm / 6mm自攻螺钉 | 8 | [仅供参考](https://amzn.asia/d/1msRa5B) | 用于紧固（相机-相机支架）和（相机支架-相机盖板） | + +- 3D打印件 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
项目相机支架相机盖板USB-Type-C 压块下载链接
+
+ 经典版头部（98mm） + 		📥 经典版3D打印结构件
+
+ 焕新版头部（88mm） + 		📥 焕新版3D打印结构件
+ +### 5.2.2 双目相机 30 FPS + +- 物料 + +| 项目 | 数量 | 规格 | 备注 | +| :------------------: | :--: | :----------------------------------------------------------: | :----------------------------------------------: | +| 双目相机 | 1 | [30FPS、125°FOV、60mm基线](http://e.tb.cn/h.TaZxgkpfWkNCakg) | 用于机器人头部视角 | +| M4x16mm 螺钉 | 2 | [仅供参考](https://amzn.asia/d/cfta55x) | 用于相机支架紧固 | +| M2x5mm / 6mm自攻螺钉 | 8 | [仅供参考](https://amzn.asia/d/1msRa5B) | 用于紧固（相机-相机支架）和（相机支架-相机盖板） | + +- 3D打印件 + + + + + + + + + + + + + + + + + + + + + + + + + + +
项目相机支架相机盖板下载链接
+
+ 经典版头部（98mm） + 		无📥 经典版3D打印结构件
+
+ 焕新版头部（88mm） + 		📥 焕新版3D打印结构件
+ +### 5.2.3 G1 腕部 RealSense D405 + +> RealSense D405 仅推荐 [Unitree Dex3-1](https://www.unitree.com/Dex3-1) 末端执行器使用 + +- 物料 + +| 项目 | 数量 | 规格 | 备注 | +| :-----------------: | :--: | :----------------------------------------------------------: | :----------------------------------------------------------: | +| RealSense D405 相机 | 2 | [Website](https://www.intelrealsense.com/depth-camera-d405/) | 用于G1机器人（M4010腕部电机）左右腕部视角 | +| USB3.0 Hub | 1 | [Issue](https://github.com/IntelRealSense/librealsense/issues/24) | 注意选用优质Hub以满足realsense相机需求；
推荐连接至 [9号Type-C接口](https://support.unitree.com/home/en/G1_developer/about_G1) | +| M3-1 六角螺母 | 4 | [仅供参考](https://a.co/d/gQaLtHD) | 用于紧固腕部 | +| M3x12 螺钉 | 4 | [仅供参考](https://amzn.asia/d/aU9NHSf) | 用于紧固腕部 | +| M3x6 螺钉 | 4 | [仅供参考](https://amzn.asia/d/0nEz5dJ) | 用于紧固腕部 | + +- 3D打印件 + +| 项目 | 数量 | 备注 | 下载链接 | +| :---------------: | :--: | :--------------------: | :----------------------------------------------------------: | +| D405 相机腕圈支架 | 2 | 与腕部相机支架搭配使用 | [📥 STEP](https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/wrist_ring_mount.STEP) | +| 左腕相机支架 | 1 | 用于装配左腕D405相机 | [📥 STEP](https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/left_wrist_D405_camera_mount.STEP) | +| 右腕相机支架 | 1 | 用于装配右腕D405相机 | [📥 STEP](https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/right_wrist_D405_camera_mount.STEP) | + +### 5.2.4 G1 腕部单目相机 + +- 物料 + +| 项目 | 数量 | 规格 | 备注 | +| :------------------: | :--: | :----------------------------------------------------------: | :----------------------------------------------: | +| 单目相机 | 2 | [60FPS、160° FOV](https://e.tb.cn/h.S2YWUJan6ZP8Wqv?tk=MqHK4uvWlLk) | 用于G1机器人（M4010腕部电机）左右腕部视角 | +| USB3.0 Hub | 1 | [仅供参考](https://e.tb.cn/h.S2QB8hVuKbNfqb9?tk=XsBL4uwn2Ch) | 用于连接两路腕部相机 | +| M3-1 六角螺母 | 4 | [仅供参考](https://a.co/d/gQaLtHD) | 用于腕部紧固件 | +| M3x12 螺钉 | 4 | [仅供参考](https://amzn.asia/d/aU9NHSf) | 用于紧固腕部支架和腕圈 | +| M2.5x5 自攻螺钉 | 4 | [仅供参考](https://amzn.asia/d/0nEz5dJ) | 用于紧固线卡和腕部支架 | +| M2x5mm / 6mm自攻螺钉 | 8 | [仅供参考](https://amzn.asia/d/1msRa5B) | 用于紧固（相机-相机支架）和（相机支架-相机盖板） | + +- 3D打印件 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
末端执行器相机支架腕圈支架相机盖板线卡下载链接
Unitree Dex1-1 + + + 📥 3D打印件下载链接 +
Unitree Dex3-1
+ Inspire DFX Hand / + Brainco Hand +
+ +## 5.3 🔨 安装示意图（部分） + + + + + + + + + + + + + + + + + + + +
项目仿真实物
头部 +

+ head +

头部支架
+

+ 		+

+ head +

装配侧视
+

+ 		+

+ head +

装配正视
+

+
腕部 +

+ wrist +

腕圈及相机支架
+

+ 		+

+ wrist +

装配左手
+

+ 		+

+ wrist +

装配右手
+

+
+ +> 注意：如图中红圈所示，腕圈支架与机器人手腕接缝对齐。 diff --git a/README.md b/README.md index 89668fb..45569f1 100644 --- a/README.md +++ b/README.md @@ -34,43 +34,17 @@

-# 🔖 Release Note +# 🔖[Release Note](CHANGELOG.md) -## 🏷️ v1.2 +## 🏷️ v1.3 -1. Upgrade the Dex1_1 gripper control code to be compatible with the [dex1_1 service](https://github.com/unitreerobotics/dex1_1_service) driver. - -## 🏷️ v1.1 - -1. Added support for a new end-effector type: **`brainco`**, which refers to the [Brain Hand](https://www.brainco-hz.com/docs/revolimb-hand/) developed by [BrainCo](https://www.brainco.cn/#/product/dexterous). -2. Changed the **DDS domain ID** to `1` in **simulation mode** to prevent conflicts during physical deployment. -3. Fixed an issue where the default frequency was set too high. - -## 🏷️ v1.0 (newvuer) - -1. Upgraded the [Vuer](https://github.com/vuer-ai/vuer) library to version **v0.0.60**, expanding XR device support to two modes: **hand tracking** and **controller tracking**. The project has been renamed from **`avp_teleoperate`** to **`xr_teleoperate`** to better reflect its broader capabilities. - - Devices tested include: Apple Vision Pro, Meta Quest 3 (with controllers), and PICO 4 Ultra Enterprise (with controllers). - -2. Modularized parts of the codebase and integrated **Git submodules** (`git submodule`) to improve code clarity and maintainability. - -3. Introduced **headless**, **motion control**, and **simulation** modes. Startup parameter configuration has been streamlined for ease of use (see Section 2.2). - The **simulation** mode enables environment validation and hardware failure diagnostics. - -4. Changed the default hand retargeting algorithm from *Vector* to **DexPilot**, enhancing the precision and intuitiveness of fingertip pinching interactions. - -5. Various other improvements and optimizations. - -## 🏷️ v0.5 (oldvuer) - -1. The repository was named **`avp_teleoperate`** in this version. -2. Supported robot included: `G1_29`, `G1_23`, `H1_2`, and `H1`. -3. Supported end-effectors included: `dex3`, `dex1(gripper)`, and `inspire1`. -4. Only supported **hand tracking mode** for XR devices (using [Vuer](https://github.com/vuer-ai/vuer) version **v0.0.32RC7**). - **Controller tracking mode** was **not** supported. -5. Data recording mode was available. +- add [![Unitree LOGO](https://camo.githubusercontent.com/ff307b29fe96a9b115434a450bb921c2a17d4aa108460008a88c58a67d68df4e/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f4769744875622d57696b692d3138313731373f6c6f676f3d676974687562)](https://github.com/unitreerobotics/xr_teleoperate/wiki) [![Unitree LOGO](https://camo.githubusercontent.com/6f5253a8776090a1f89fa7815e7543488a9ec200d153827b4bc7c3cb5e1c1555/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f2d446973636f72642d3538363546323f7374796c653d666c6174266c6f676f3d446973636f7264266c6f676f436f6c6f723d7768697465)](https://discord.gg/ZwcVwxv5rq) +- Support **IPC mode**, defaulting to use SSHKeyboard for input control. +- Merged motion mode support for H1_2 robot. +- Merged motion mode support for the G1_23 robot arm. +- ··· # 0. 📖 Introduction @@ -452,81 +426,7 @@ xr_teleoperate/ # 5. 🛠️ Hardware -## 5.1 📋 Parts List - -| Item | Quantity | Link(s) | Remarks | -| :--------------------------: | :------: | :----------------------------------------------------------: | :----------------------------------------------------------: | -| **humanoid robot** | 1 | https://www.unitree.com | With development computing unit | -| **XR device** | 1 | https://www.apple.com/apple-vision-pro/
https://www.meta.com/quest/quest-3
https://www.picoxr.com/products/pico4-ultra-enterprise | | -| **Router** | 1 | | Required for **default mode**; **wireless mode** not need. | -| **User PC** | 1 | | In **simulation mode**, please use the [officially recommended](https://docs.isaacsim.omniverse.nvidia.com/4.5.0/installation/requirements.html) hardware resources for deployment. | -| **Head stereo camera** | 1 | [For reference only] http://e.tb.cn/h.TaZxgkpfWkNCakg?tk=KKz03Kyu04u | For robot head view | -| **Head camera mount** | 1 | https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/head_stereo_camera_mount.STEP | For mounting head stereo camera | -| Intel RealSense D405 camera | 2 | https://www.intelrealsense.com/depth-camera-d405/ | For wrist | -| Wrist ring mount | 2 | https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/wrist_ring_mount.STEP | Used with wrist camera mount | -| Left wrist D405 mount | 1 | https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/left_wrist_D405_camera_mount.STEP | For mounting left wrist RealSense D405 camera | -| Right wrist D405 mount | 1 | https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/right_wrist_D405_camera_mount.STEP | For mounting right wrist RealSense D405 camera | -| M3-1 hex nuts | 4 | [For reference only] https://a.co/d/1opqtOr | For Wrist fastener | -| M3x12 screws | 4 | [For reference only] https://amzn.asia/d/aU9NHSf | For Wrist fastener | -| M3x6 screws | 4 | [For reference only] https://amzn.asia/d/0nEz5dJ | For Wrist fastener | -| **M4x14 screws** | 2 | [For reference only] https://amzn.asia/d/cfta55x | For head fastener | -| **M2x4 self‑tapping screws** | 4 | [For reference only] https://amzn.asia/d/1msRa5B | For head fastener | - -> Note: The bolded items are essential equipment for teleoperation tasks, while the other items are optional equipment for recording [datasets](https://huggingface.co/unitreerobotics). - -## 5.2 🔨 Mounting Diagrams - - - - - - - - - - - - - - - - - - - -
ItemSimulationReal
Head -

- head -

Head Mount
-

- 		-

- head -

Side View of Assembly
-

- 		-

- head -

Front View of Assembly
-

-
Wrist -

- wrist -

Wrist Ring and Camera Mount
-

- 		-

- wrist -

Left Hand Assembly
-

- 		-

- wrist -

Right Hand Assembly
-

-
- -> Note: The wrist ring mount should align with the seam of the robot's wrist, as shown by the red circle in the image. +please see [Device document](Device.md). diff --git a/README_zh-CN.md b/README_zh-CN.md index 67254d4..87a0e37 100644 --- a/README_zh-CN.md +++ b/README_zh-CN.md @@ -34,41 +34,17 @@

-# 🔖 版本说明 +# 🔖 [版本说明](CHANGELOG_zh-CN.md) -## 🏷️ v1.2 +## 🏷️ v1.3 -1. 升级Dex1_1夹爪控制代码，匹配 [dex1_1 service](https://github.com/unitreerobotics/dex1_1_service) 驱动 - -## 🏷️ v1.1 - -1. 末端执行器类型新增'brainco'，这是[强脑科技第二代灵巧手](https://www.brainco-hz.com/docs/revolimb-hand/) -2. 为避免与实机部署时发生冲突，将仿真模式下的 dds 通道的domain id修改为1 -3. 修复默认频率过高的问题 - -## 🏷️ v1.0 (newvuer) - -1. 升级 [Vuer](https://github.com/vuer-ai/vuer) 库至 v0.0.60 版本，XR设备支持模式扩展为**手部跟踪**和**控制器跟踪**两种。为更准确反映功能范围，项目由 **avp_teleoperate** 更名为 **xr_teleoperate**。 - - 测试设备包括： Apple Vision Pro，Meta Quest 3（含手柄） 与 PICO 4 Ultra Enterprise（含手柄）。 - -2. 对部分功能进行了**模块化**拆分，并通过 Git 子模块（git submodule）方式进行管理和加载，提升代码结构的清晰度与维护性。 - -3. 新增**无头**、**运控**及**仿真**模式，优化启动参数配置（详见第2.2节），提升使用便捷性。**仿真**模式的加入，方便了环境验证和硬件故障排查。 - -4. 将默认手部映射算法从 Vector 切换为 **DexPilot**，优化了指尖捏合的精度与交互体验。 - -5. 其他一些优化 - -## 🏷️ v0.5 (oldvuer) - -1. 该版本曾经命名为 `avp_teleoperate` -2. 支持 'G1_29', 'G1_23', 'H1_2', 'H1' 机器人类型 -3. 支持 'dex3', 'gripper', 'inspire1' 末端执行器类型 -4. 仅支持 XR 设备的手部跟踪模式（ [Vuer](https://github.com/vuer-ai/vuer) 版本为 v0.0.32RC7），不支持控制器模式 -5. 支持数据录制模式 +- 添加 [![Unitree LOGO](https://camo.githubusercontent.com/ff307b29fe96a9b115434a450bb921c2a17d4aa108460008a88c58a67d68df4e/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f4769744875622d57696b692d3138313731373f6c6f676f3d676974687562)](https://github.com/unitreerobotics/xr_teleoperate/wiki) [![Unitree LOGO](https://camo.githubusercontent.com/6f5253a8776090a1f89fa7815e7543488a9ec200d153827b4bc7c3cb5e1c1555/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f2d446973636f72642d3538363546323f7374796c653d666c6174266c6f676f3d446973636f7264266c6f676f436f6c6f723d7768697465)](https://discord.gg/ZwcVwxv5rq) +- 支持 **IPC 模式**，默认使用 SSHKeyboard 进行输入控制。 +- 合并 **H1_2** 机器人新增运动模式支持。 +- 合并 **G1_23** 机械臂新增运动模式支持。 +- ··· # 0. 📖 介绍 @@ -486,84 +462,7 @@ xr_teleoperate/ # 5. 🛠️ 硬件 -## 5.1 📋 清单 - -| 项目 | 数量 | 链接 | 备注 | -| :-----------------------: | :--: | :----------------------------------------------------------: | :----------------------------------------------------------: | -| **宇树通用人形机器人 G1** | 1 | https://www.unitree.com/cn/g1 | 需选配开发计算单元版本 | -| **XR 设备** | 1 | https://www.apple.com.cn/apple-vision-pro/
https://www.meta.com/quest/quest-3
https://www.picoxr.com/products/pico4-ultra-enterprise | | -| 路由器 | 1 | | 常规模式必须，无线模式不需要 | -| **用户电脑** | 1 | | 仿真模式下请使用[官方推荐](https://docs.isaacsim.omniverse.nvidia.com/4.5.0/installation/requirements.html)的硬件资源进行部署使用 | -| **头部双目相机** | 1 | [仅供参考] http://e.tb.cn/h.TaZxgkpfWkNCakg?tk=KKz03Kyu04u | 用于机器人头部视野 | -| **头部相机支架** | 1 | https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/head_stereo_camera_mount.STEP | 用于装配头部相机 | -| 英特尔 RealSense D405相机 | 2 | https://www.intelrealsense.com/depth-camera-d405/ | 用于腕部灵巧操作视野 | -| 腕部相机环形支架 | 2 | https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/wrist_ring_mount.STEP | 与腕部相机支架搭配使用 | -| 左腕相机支架 | 1 | https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/left_wrist_D405_camera_mount.STEP | 用于装配左腕D405相机 | -| 右腕相机支架 | 1 | https://github.com/unitreerobotics/xr_teleoperate/blob/g1/hardware/right_wrist_D405_camera_mount.STEP | 用于装配右腕D405相机 | -| M3-1 六角螺母 | 4 | [仅供参考] https://a.co/d/gQaLtHD | 用于腕部紧固件 | -| M3x12 螺钉 | 4 | [仅供参考] https://amzn.asia/d/aU9NHSf | 用于腕部紧固件 | -| M3x6 螺钉 | 4 | [仅供参考] https://amzn.asia/d/0nEz5dJ | 用于腕部紧固件 | -| **M4x14 螺钉** | 2 | [仅供参考] https://amzn.asia/d/cfta55x | 用于头部紧固件 | -| **M2x4 自攻螺钉** | 4 | [仅供参考] https://amzn.asia/d/1msRa5B | 用于头部紧固件 | - -> 注意：加粗项目是进行遥操作任务时的必需设备，其余项目是录制[数据集](https://huggingface.co/unitreerobotics)时的可选设备。 - -## 5.2 🔨 安装示意图 - - - - - - - - - - - - - - - - - - - -
项目仿真实物
头部 -

- head -

头部支架
-

- 		-

- head -

装配侧视
-

- 		-

- head -

装配正视
-

-
腕部 -

- wrist -

腕圈及相机支架
-

- 		-

- wrist -

装配左手
-

- 		-

- wrist -

装配右手
-

-
- - -> 注意：如图中红圈所示，腕圈支架与机器人手腕接缝对齐。 - - +请查看 [硬件文档](Device_zh-CN.md). # 6. 🙏 鸣谢 diff --git a/assets/brainco_hand/brainco.yml b/assets/brainco_hand/brainco.yml index 50d557e..fc41b9f 100644 --- a/assets/brainco_hand/brainco.yml +++ b/assets/brainco_hand/brainco.yml @@ -28,7 +28,7 @@ left: # For example, Allegro is 1.6 times larger than normal human hand, then this scaling factor should be 1.6 scaling_factor: 1.00 # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency - low_pass_alpha: 0.5 + low_pass_alpha: 0.2 right: type: DexPilot # or vector @@ -58,4 +58,4 @@ right: # For example, Allegro is 1.6 times larger than normal human hand, then this scaling factor should be 1.6 scaling_factor: 1.00 # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency - low_pass_alpha: 0.5 + low_pass_alpha: 0.2 diff --git a/teleop/utils/ipc.py b/teleop/utils/ipc.py index af8d73a..5db218d 100644 --- a/teleop/utils/ipc.py +++ b/teleop/utils/ipc.py @@ -3,7 +3,7 @@ import zmq import time import threading import logging_mp -logger_mp = logging_mp.get_logger(__name__) +logger_mp = logging_mp.get_logger(__name__, level=logging_mp.INFO) """ # Client → Server (Request)