[update] lib version and doc

4 months ago · 8c4ba67cea
5 changed files with 52 additions and 25 deletions
--- a/README.md
+++ b/README.md
@ -169,13 +169,13 @@ build  cert.pem  key.pem  LICENSE  pyproject.toml  README.md  rootCA.key  rootCA
 (tv) unitree@Host:~/xr_teleoperate/teleop/televuer$ sudo ufw allow 8012
 # 2. Configure certificate paths, choose one method
 # 2.1 Environment variables (optional)
 # 2.1 User config directory (optional)
 (tv) unitree@Host:~/xr_teleoperate/teleop/televuer$ mkdir -p ~/.config/xr_teleoperate/
 (tv) unitree@Host:~/xr_teleoperate/teleop/televuer$ cp cert.pem key.pem ~/.config/xr_teleoperate/
 # 2.2 Environment variables (optional)
 (tv) unitree@Host:~/xr_teleoperate/teleop/televuer$ echo 'export XR_TELEOP_CERT="$HOME/xr_teleoperate/teleop/televuer/cert.pem"' >> ~/.bashrc
 (tv) unitree@Host:~/xr_teleoperate/teleop/televuer$ echo 'export XR_TELEOP_KEY="$HOME/xr_teleoperate/teleop/televuer/key.pem"' >> ~/.bashrc
 (tv) unitree@Host:~/xr_teleoperate/teleop/televuer$ source ~/.bashrc
 # 2.2 User config directory (optional)
 (tv) unitree@Host:~/xr_teleoperate/teleop/televuer$ mkdir -p ~/.config/xr_teleoperate/
 (tv) unitree@Host:~/xr_teleoperate/teleop/televuer$ cp cert.pem key.pem ~/.config/xr_teleoperate/
 ```
@ -239,7 +239,7 @@ build  cert.pem  key.pem  LICENSE  pyproject.toml  README.md  rootCA.key  rootCA
 ## 2.1 📥 Environment Setup
 > The v1.4 version’s simulation deployment is not yet available. Please use v1.3 for testing temporarily.
 > Since the image service has been upgraded to `teleimager`, the simulation deployment for v1.4 is temporarily unavailable. Please use v1.3 for testing for now.
 First, install [unitree_sim_isaaclab](https://github.com/unitreerobotics/unitree_sim_isaaclab). Follow that repo’s README.
@ -284,7 +284,20 @@ Next steps:
 2. Connect to the corresponding Wi‑Fi
 3. Open a browser (e.g. Safari or PICO Browser) and go to:  `https://192.168.123.2:8012/?ws=wss://192.168.123.2:8012`
 3. Only proceed if your head camera has WebRTC enabled (`cam_config_server.yaml → head_camera → enable_webrtc: true`); otherwise jump to Step 4. Open a browser (e.g. Safari or PICO Browser) and go to:  
   **https://192.168.123.164:60001**
   > **Note 1:** This IP is the address of **PC2**—the machine running teleimager service.  
   > **Note 2:** You may see a warning page like step 4. Click **Advanced**, then **Proceed to IP (unsafe)**. Once the page loads, press the **start** button in the top-left corner; if you see the head-camera preview, the check is successful.
   > **Note 3:** This step serves two purposes:  
   >
   > 1. Verify that the teleimager service is running correctly.  
   > 2. Manually trust the WebRTC self-signed certificate.  
   >
   > Once this has been done on the same device with the same certificate, you can skip it on subsequent launches.
 4. Open a browser (e.g. Safari or PICO Browser) and go to:  `https://192.168.123.2:8012/?ws=wss://192.168.123.2:8012`
   > **Note 1**: This IP must match your **Host** IP (check with `ifconfig`).
   >
@ -296,11 +309,11 @@ Next steps:
     </a>
   </p>
 4. In the Vuer web, click **Virtual Reality**. Allow all prompts to start the VR session.
 5. In the Vuer web, click **Virtual Reality**. Allow all prompts to start the VR session.
   <p align="center">  <a href="https://oss-global-cdn.unitree.com/static/fdeee4e5197f416290d8fa9ecc0b28e6_2480x1286.png">    <img src="https://oss-global-cdn.unitree.com/static/fdeee4e5197f416290d8fa9ecc0b28e6_2480x1286.png" alt="Vuer UI" style="width: 75%;">  </a> </p>
 5. You’ll see the robot’s first-person view in the headset. The terminal prints connection info:
 6. You’ll see the robot’s first-person view in the headset. The terminal prints connection info:
   ```bash
   websocket is connected. id:dbb8537d-a58c-4c57-b49d-cbb91bd25b90
@ -308,13 +321,13 @@ Next steps:
   Uplink task running. id:dbb8537d-a58c-4c57-b49d-cbb91bd25b90
   ```
 6. Align your arm to the **robot’s initial pose** to avoid sudden movements at start:
 7. Align your arm to the **robot’s initial pose** to avoid sudden movements at start:
   <p align="center">  <a href="https://oss-global-cdn.unitree.com/static/2522a83214744e7c8c425cc2679a84ec_670x867.png">    <img src="https://oss-global-cdn.unitree.com/static/2522a83214744e7c8c425cc2679a84ec_670x867.png" alt="Initial Pose" style="width: 25%;">  </a> </p>
 7. Press **r** in the terminal to begin teleoperation. You can now control the robot arm and dexterous hand.
 8. Press **r** in the terminal to begin teleoperation. You can now control the robot arm and dexterous hand.
 8. During teleoperation, press **s** to start recording; press **s** again to stop and save. Repeatable process.
 9. During teleoperation, press **s** to start recording; press **s** again to stop and save. Repeatable process.
 <p align="center">  <a href="https://oss-global-cdn.unitree.com/static/f5b9b03df89e45ed8601b9a91adab37a_2397x1107.png">    <img src="https://oss-global-cdn.unitree.com/static/f5b9b03df89e45ed8601b9a91adab37a_2397x1107.png" alt="Recording Process" style="width: 75%;">  </a> </p>
--- a/README_zh-CN.md
+++ b/README_zh-CN.md
@ -170,13 +170,13 @@ build  cert.pem  key.pem  LICENSE  pyproject.toml  README.md  rootCA.key  rootCA
 (tv) unitree@Host:~/xr_teleoperate/teleop/televuer$ sudo ufw allow 8012
 # 2. 配置证书路径，以下方式任选其一
 # 2.1 环境变量配置（可选）
 # 2.1 用户配置目录（可选）
 (tv) unitree@Host:~/xr_teleoperate/teleop/televuer$ mkdir -p ~/.config/xr_teleoperate/
 (tv) unitree@Host:~/xr_teleoperate/teleop/televuer$ cp cert.pem key.pem ~/.config/xr_teleoperate/
 # 2.2 环境变量配置（可选）
 (tv) unitree@Host:~/xr_teleoperate/teleop/televuer$ echo 'export XR_TELEOP_CERT="$HOME/xr_teleoperate/teleop/televuer/cert.pem"' >> ~/.bashrc
 (tv) unitree@Host:~/xr_teleoperate/teleop/televuer$ echo 'export XR_TELEOP_KEY="$HOME/xr_teleoperate/teleop/televuer/key.pem"' >> ~/.bashrc
 (tv) unitree@Host:~/xr_teleoperate/teleop/televuer$ source ~/.bashrc
 # 2.2 用户配置目录（可选）
 (tv) unitree@Host:~/xr_teleoperate/teleop/televuer$ mkdir -p ~/.config/xr_teleoperate/
 (tv) unitree@Host:~/xr_teleoperate/teleop/televuer$ cp cert.pem key.pem ~/.config/xr_teleoperate/
 ```
 ```bash
@ -254,7 +254,7 @@ build  cert.pem  key.pem  LICENSE  pyproject.toml  README.md  rootCA.key  rootCA
 ## 2.1 📥 环境配置
 > v1.4 版本仿真部署暂未上线，请暂时使用 v1.3 进行测试
 > 因为图像服务升级为`teleimager`，v1.4 版本仿真部署暂未上线，请暂时使用 v1.3 进行测试
 首先，请安装 [unitree_sim_isaaclab](https://github.com/unitreerobotics/unitree_sim_isaaclab)。具体安装步骤，可参考该仓库 README 文档。
@ -311,7 +311,21 @@ build  cert.pem  key.pem  LICENSE  pyproject.toml  README.md  rootCA.key  rootCA
 2. 连接对应的 WiFi 热点
 3. 打开浏览器应用（比如 Safari 或 PICO Browser），输入并访问网址：https://192.168.123.2:8012/?ws=wss://192.168.123.2:8012
 3. 如果您头部相机开启了WebRTC功能（`cam_config_server.yaml => head_camera => enable_webrtc: true`），那么执行此步骤，否则直接跳到第 4 步。打开浏览器应用（比如 Safari 或 PICO Browser），输入并访问网址：https://192.168.123.164:60001
   > 注意1：此 IP 地址为开启teleimager图像服务的 PC2 设备 IP
   > 注意2：此时可能弹出类似第4步相同的警告提示。请点击`Advanced`按钮后，继续点击 `Proceed to ip (unsafe)` 按钮，使用非安全方式继续登录WebRTC图像服务器。进入后，点击左上角`start`按钮，如果预览到头部相机图像，那么操作成功。
   >
   > <p align="center">
   >   <a href="https://oss-global-cdn.unitree.com/static/777f9c6f42d74eb2a6438d1509a73025_2475x1574.jpg">
   >     <img src="https://oss-global-cdn.unitree.com/static/777f9c6f42d74eb2a6438d1509a73025_2475x1574.jpg" alt="webrtc_unsafe" style="width: 50%;">
   >   </a>
   > </p>
   >
   > 注意3：此步骤目的有两个：一是检测头部相机服务是否正常；二是手动信任 `webrtc` 自签名证书。相同设备与自签名证书条件下执行一次本步骤后，再次启动时可跳过该步。
 4. 打开浏览器应用（比如 Safari 或 PICO Browser），输入并访问网址：https://192.168.123.2:8012/?ws=wss://192.168.123.2:8012
   > 注意1：此 IP 地址应与您的 **主机** IP 地址匹配。该地址可以使用 `ifconfig` 等类似命令查询。
@ -323,7 +337,7 @@ build  cert.pem  key.pem  LICENSE  pyproject.toml  README.md  rootCA.key  rootCA
     </a>
   </p>
 4. 进入`Vuer`网页界面后，点击 **`Virtual Reality`** 按钮。在允许后续的所有对话框后，启动 VR 会话。界面如下图所示：
 5. 进入`Vuer`网页界面后，点击 **`Virtual Reality`** 按钮。在允许后续的所有对话框后，启动 VR 会话。界面如下图所示：
   <p align="center">
     <a href="https://oss-global-cdn.unitree.com/static/fdeee4e5197f416290d8fa9ecc0b28e6_2480x1286.png">
@ -331,7 +345,7 @@ build  cert.pem  key.pem  LICENSE  pyproject.toml  README.md  rootCA.key  rootCA
     </a>
   </p>
 5. 此时，您将会在 XR 头显设备中看到机器人的第一人称视野。同时，终端打印出链接建立的信息：
 6. 此时，您将会在 XR 头显设备中看到机器人的第一人称视野。同时，终端打印出链接建立的信息：
   ```bash
   websocket is connected. id:dbb8537d-a58c-4c57-b49d-cbb91bd25b90
@ -339,7 +353,7 @@ build  cert.pem  key.pem  LICENSE  pyproject.toml  README.md  rootCA.key  rootCA
   Uplink task running. id:dbb8537d-a58c-4c57-b49d-cbb91bd25b90
   ```
 6. 然后，将手臂形状摆放到与**机器人初始姿态**相接近的姿势。这一步是为了避免在实物部署时，初始位姿差距过大导致机器人产生过大的摆动。
 7. 然后，将手臂形状摆放到与**机器人初始姿态**相接近的姿势。这一步是为了避免在实物部署时，初始位姿差距过大导致机器人产生过大的摆动。
   机器人初始姿态示意图如下：
@ -349,9 +363,9 @@ build  cert.pem  key.pem  LICENSE  pyproject.toml  README.md  rootCA.key  rootCA
     </a>
   </p>
 7. 最后，在终端中按下 **r** 键后，正式开启遥操作程序。此时，您可以远程控制机器人的手臂（和灵巧手）
 8. 最后，在终端中按下 **r** 键后，正式开启遥操作程序。此时，您可以远程控制机器人的手臂（和灵巧手）
 8. 在遥操过程中，按 **s** 键可开启数据录制，再次按 **s** 键可结束录制并保存数据（该过程可重复）
 9. 在遥操过程中，按 **s** 键可开启数据录制，再次按 **s** 键可结束录制并保存数据（该过程可重复）
   数据录制过程示意图如下：
--- a/teleop/teleimager
+++ b/teleop/teleimager
@ -1 +1 @@
 Subproject commit 58aa69e4b44878043dd14b08701a6a379a2c5cf9
 Subproject commit 81720e0bb384d9f79cb10160e9e604d505f1e1a2
--- a/teleop/teleop_hand_and_arm.py
+++ b/teleop/teleop_hand_and_arm.py
@ -80,7 +80,7 @@ if __name__ == '__main__':
    parser.add_argument('--display-mode', type=str, choices=['immersive', 'ego', 'pass-through'], default='immersive', help='Select XR device display mode')
    parser.add_argument('--arm', type=str, choices=['G1_29', 'G1_23', 'H1_2', 'H1'], default='G1_29', help='Select arm controller')
    parser.add_argument('--ee', type=str, choices=['dex1', 'dex3', 'inspire_ftp', 'inspire_dfx', 'brainco'], help='Select end effector controller')
    parser.add_argument('--img-server-ip', type=str, default='10.0.7.96', help='IP address of image server, used by teleimager and televuer')
    parser.add_argument('--img-server-ip', type=str, default='192.168.123.164', help='IP address of image server, used by teleimager and televuer')
    # mode flags
    parser.add_argument('--motion', action = 'store_true', help = 'Enable motion control mode')
    parser.add_argument('--headless', action='store_true', help='Enable headless mode (no display)')
--- a/teleop/televuer
+++ b/teleop/televuer
@ -1 +1 @@
 Subproject commit 6b9aafd0b357d31de5e9e8edd2ee322575bd8b8d
 Subproject commit 948f65f6852410610483345e69715a0c673a99eb