[update] support h1 and inspire hand

README.md

@@ -9,9 +9,22 @@
 # 📺 Video Demo
 
 <p align="center">
+  <table>
+    <tr>
+      <td align="center" width="50%">
         <a href="https://www.youtube.com/watch?v=OTWHXTu09wE" target="_blank">
-    <img src="https://img.youtube.com/vi/OTWHXTu09wE/maxresdefault.jpg" alt="Watch the video" style="width: 35%;">
+          <img src="https://img.youtube.com/vi/OTWHXTu09wE/maxresdefault.jpg" alt="Video 1" width="75%">
+        </a>
+        <p><b> G1 (29DoF) </b></p>
+      </td>
+      <td align="center" width="50%">
+        <a href="https://www.youtube.com/watch?v=pNjr2f_XHoo" target="_blank">
+          <img src="https://img.youtube.com/vi/pNjr2f_XHoo/maxresdefault.jpg" alt="Video 2" width="75%">
         </a>
+        <p><b> H1_2 (Arm 7DoF) </b></p>
+      </td>
+    </tr>
+  </table>
 </p>
 
 
@@ -20,38 +33,40 @@
 # 0. 📖 Introduction
 This repository implements teleoperation of the **Unitree humanoid robot** using **Apple Vision Pro**.
 
-Here are the robots that will be supported,
+Here are the currently supported robots,
 
 <table>
   <tr>
     <th style="text-align: center;"> &#129302; Robot </th>
     <th style="text-align: center;"> &#9898; Status </th>
-    <th style="text-align: center;"> &#128221; Remarks </th>
   </tr>
   <tr>
-    <td style="text-align: center;"> G1 (29DoF) + Dex3-1 </td>
+    <td style="text-align: center;"> <a href="https://www.unitree.com/g1" target="_blank"> G1 (29DoF) </td>
     <td style="text-align: center;"> &#9989; Completed </td>
-    <td style="text-align: center;"> main branch </td>
   </tr>
   <tr>
-    <td style="text-align: center;"> G1 (23DoF) </td>
+    <td style="text-align: center;"> <a href="https://www.unitree.com/g1" target="_blank"> G1 (23DoF) </td>
     <td style="text-align: center;"> &#9989; Completed </td>
-    <td style="text-align: center;"> main branch </td>
   </tr>
   <tr>
-    <td style="text-align: center;"> H1 (Arm 4DoF) </td>
-    <td style="text-align: center;"> &#9201; In Progress </td>
-    <td style="text-align: center;"> <a href="https://github.com/unitreerobotics/avp_teleoperate/tree/h1" target="_blank">Refer to this branch's ik temporarily</a> </td>
+    <td style="text-align: center;"> <a href="https://www.unitree.com/h1" target="_blank"> H1 (Arm 4DoF) </td>
+    <td style="text-align: center;"> &#9989; Completed </td>
+  </tr>
+  <tr>
+    <td style="text-align: center;"> <a href="https://www.unitree.com/h1" target="_blank"> H1_2 (Arm 7DoF) </td>
+    <td style="text-align: center;"> &#9989; Completed </td>
+  </tr>
+  <tr>
+    <td style="text-align: center;"> <a href="https://www.unitree.com/Dex3-1" target="_blank"> Dex3-1 hand </td>
+    <td style="text-align: center;"> &#9989; Completed </td>
   </tr>
   <tr>
-    <td style="text-align: center;"> H1_2 (Arm 7DoF) + Inspire </td>
+    <td style="text-align: center;"> <a href="https://support.unitree.com/home/en/G1_developer/inspire_dfx_dexterous_hand" target="_blank"> Inspire hand </td>
     <td style="text-align: center;"> &#9989; Completed </td>
-    <td style="text-align: center;"> <a href="https://github.com/unitreerobotics/avp_teleoperate/tree/main" target="_blank">The original h1_2 branch has become stale, and the original g1 branch has been renamed to the main branch. The main branch now supports both g1 and h1_2.</a> </td>
   </tr>
   <tr>
-    <td style="text-align: center;"> ··· </td>
-    <td style="text-align: center;"> ··· </td>
-    <td style="text-align: center;"> ··· </td>
+    <td style="text-align: center;"> ... </td>
+    <td style="text-align: center;"> ... </td>
   </tr>
 </table>
 
@@ -330,6 +345,7 @@ avp_teleoperate/
 │   │      ├── episode_writer.py          [Used to record data for imitation learning]  
 │   │      ├── mat_tool.py                [Some small math tools]
 │   │      ├── weighted_moving_filter.py  [For filtering joint data]
+|   |      ├── rerun_visualizer.py        [For visualizing data during recording]
 │   │
 │   │──teleop_hand_and_arm.py   [Startup execution code for teleoperation]
 ```

README_ja-JP.md

@@ -9,25 +9,65 @@
 # 📺 ビデオデモ
 
 <p align="center">
+  <table>
+    <tr>
+      <td align="center" width="50%">
         <a href="https://www.youtube.com/watch?v=OTWHXTu09wE" target="_blank">
-    <img src="https://img.youtube.com/vi/OTWHXTu09wE/maxresdefault.jpg" alt="Watch the video" style="width: 35%;">
+          <img src="https://img.youtube.com/vi/OTWHXTu09wE/maxresdefault.jpg" alt="Video 1" width="75%">
+        </a>
+        <p><b> G1 (29DoF) </b></p>
+      </td>
+      <td align="center" width="50%">
+        <a href="https://www.youtube.com/watch?v=pNjr2f_XHoo" target="_blank">
+          <img src="https://img.youtube.com/vi/pNjr2f_XHoo/maxresdefault.jpg" alt="Video 2" width="75%">
         </a>
+        <p><b> H1_2（腕 7自由度）</b></p>
+      </td>
+    </tr>
+  </table>
 </p>
 
 
-
-
 # 0. 📖 イントロダクション
 このリポジトリは、**Apple Vision Pro** を使用して **Unitree ヒューマノイドロボット** を遠隔操作するためのものです。
 
-以下は、このリポジトリがサポートするロボットの種類です：
+以下は本リポジトリで現在サポートされているロボットの種類です,
+
+<table>
+  <tr>
+    <th style="text-align: center;"> 🤖 ロボット </th>
+    <th style="text-align: center;"> ⚪ ステータス </th>
+  </tr>
+  <tr>
+    <td style="text-align: center;"> <a href="https://www.unitree.com/g1" target="_blank"> G1（29自由度） </td>
+    <td style="text-align: center;"> ✅ 完了 </td>
+  </tr>
+  <tr>
+    <td style="text-align: center;"> <a href="https://www.unitree.com/g1" target="_blank"> G1（23自由度） </td>
+    <td style="text-align: center;"> ✅ 完了 </td>
+  </tr>
+  <tr>
+    <td style="text-align: center;"> <a href="https://www.unitree.com/h1" target="_blank"> H1（腕 4自由度） </td>
+    <td style="text-align: center;"> ✅ 完了 </td>
+  </tr>
+  <tr>
+    <td style="text-align: center;"> <a href="https://www.unitree.com/h1" target="_blank"> H1_2（腕 7自由度） </td>
+    <td style="text-align: center;"> ✅ 完了 </td>
+  </tr>
+  <tr>
+    <td style="text-align: center;"> <a href="https://www.unitree.com/Dex3-1" target="_blank"> Dex3-1 ハンド </td>
+    <td style="text-align: center;"> ✅ 完了 </td>
+  </tr>
+  <tr>
+    <td style="text-align: center;"> <a href="https://support.unitree.com/home/en/G1_developer/inspire_dfx_dexterous_hand" target="_blank"> Inspire ハンド </td>
+    <td style="text-align: center;"> ✅ 完了 </td>
+  </tr>
+  <tr>
+    <td style="text-align: center;"> ... </td>
+    <td style="text-align: center;"> ... </td>
+  </tr>
+</table>
 
-|            ロボット            | ステータス |                             備考                             |
-| :----------------------------: | :--------: | :----------------------------------------------------------: |
-|     G1 (29自由度) + Dex3-1     |   ✅ 完了   |                         mainブランチ                         |
-|       H1 (アーム4自由度)       |  ⏳ 進行中  | [この一時ブランチのIKソルバーを参照](https://github.com/unitreerobotics/avp_teleoperate/tree/h1) |
-| H1_2 (アーム7自由度) + Inspire |   ✅ 完了   | [元のh1_2ブランチは古くなり、元のg1ブランチがmainブランチに改名され、mainブランチは現在g1とh1_2の両方をサポート](https://github.com/unitreerobotics/avp_teleoperate/tree/main) |
-|              ...               |    ...     |                             ...                              |
 
 以下は、必要なデバイスと配線図です：
 
@@ -302,6 +342,7 @@ avp_teleoperate/
 │   │      ├── episode_writer.py          [模倣学習のデータを記録するために使用]  
 │   │      ├── mat_tool.py                [いくつかの小さな数学ツール]
 │   │      ├── weighted_moving_filter.py  [ジョイントデータをフィルタリングするため]
+│   │      ├── rerun_visualizer.py        [記録中のデータを可視化するため]
 │   │
 │   │──teleop_hand_and_arm.py   [遠隔操作の起動実行コード]
 ```

README_zh-CN.md

@@ -9,9 +9,22 @@
 # 📺 视频演示
 
 <p align="center">
+  <table>
+    <tr>
+      <td align="center" width="50%">
         <a href="https://www.bilibili.com/video/BV124m8YXExJ" target="_blank">
-    <img src="./img/video_cover.jpg" alt="Watch the video" style="width: 35%;">
+          <img src="./img/video_cover.jpg" alt="Video 1" width="75%">
         </a>
+        <p><b> G1 (29自由度) </b></p>
+      </td>
+      <td align="center" width="50%">
+        <a href="https://www.bilibili.com/video/BV1SW421X7kA" target="_blank">
+          <img src="./img/video_cover2.jpg" alt="Video 2" width="75%">
+        </a>
+        <p><b> H1_2 (手臂7自由度) </b></p>
+      </td>
+    </tr>
+  </table>
 </p>
 
 
@@ -19,33 +32,40 @@
 
 该仓库实现了使用 **Apple Vision Pro** 对 **宇树（Unitree）人形机器人** 的遥操作控制。
 
-以下是本仓库将支持的机器人类型：
+以下是本仓库目前支持的机器人类型：
 
 <table>
   <tr>
     <th style="text-align: center;"> &#129302; 机器人 </th>
     <th style="text-align: center;"> &#9898; 状态 </th>
-    <th style="text-align: center;"> &#128221; 备注 </th>
   </tr>
   <tr>
-    <td style="text-align: center;"> G1 (29自由度) + Dex3-1 </td>
+    <td style="text-align: center;"> <a href="https://www.unitree.com/cn/g1" target="_blank"> G1 (29自由度) </td>
     <td style="text-align: center;"> &#9989; 完成 </td>
-    <th style="text-align: center;">main分支</th>
   </tr>
   <tr>
-    <td style="text-align: center;"> H1 (手臂4自由度) </td>
-    <td style="text-align: center;"> &#9201; 进行中 </td>
-    <th style="text-align: center;"> <a href="https://github.com/unitreerobotics/avp_teleoperate/tree/h1" target="_blank">可参考该临时分支下ik解算</a> </th>
+    <td style="text-align: center;"> <a href="https://www.unitree.com/cn/g1" target="_blank"> G1 (23自由度) </td>
+    <td style="text-align: center;"> &#9989; 完成 </td>
+  </tr>
+  <tr>
+    <td style="text-align: center;"> <a href="https://www.unitree.com/cn/h1" target="_blank"> H1 (手臂4自由度) </td>
+    <td style="text-align: center;"> &#9989; 完成 </td>
+  </tr>
+  <tr>
+    <td style="text-align: center;"> <a href="https://www.unitree.com/cn/h1" target="_blank"> H1_2 (手臂7自由度) </td>
+    <td style="text-align: center;"> &#9989; 完成 </td>
+  </tr>
+  <tr>
+    <td style="text-align: center;"> <a href="https://www.unitree.com/cn/Dex3-1" target="_blank"> Dex3-1 灵巧手 </td>
+    <td style="text-align: center;"> &#9989; 完成 </td>
   </tr>
   <tr>
-    <td style="text-align: center;"> H1_2 (手臂7自由度) + Inspire </td>
+    <td style="text-align: center;"> <a href="https://support.unitree.com/home/zh/G1_developer/inspire_dfx_dexterous_hand" target="_blank"> 因时灵巧手 </td>
     <td style="text-align: center;"> &#9989; 完成 </td>
-    <th style="text-align: center;"> <a href="https://github.com/unitreerobotics/avp_teleoperate/tree/main" target="_blank">原h1_2分支变为陈旧分支，原g1分支重命名为main分支，main分支现已同时支持g1和h1_2</a>  </th>
   </tr>
   <tr>
-    <td style="text-align: center;"> ··· </td>
-    <td style="text-align: center;"> ··· </td>
-    <th style="text-align: center;"> ··· </th>
+    <td style="text-align: center;"> ... </td>
+    <td style="text-align: center;"> ... </td>
   </tr>
 </table>
 
@@ -321,6 +341,7 @@ avp_teleoperate/
 │   │      ├── episode_writer.py          [用于记录模仿学习的数据]  
 │   │      ├── mat_tool.py                [一些小的数学工具]
 │   │      ├── weighted_moving_filter.py  [用于过滤关节数据的滤波器]
+|   |      ├── rerun_visualizer.py        [用于可视化录制数据]
 │   │
 │   │──teleop_hand_and_arm.py    [遥操作的启动执行代码]
 ```

assets/inspire_hand/inspire_hand.yml

@@ -4,17 +4,19 @@ left:
   wrist_link_name: "L_hand_base_link"
 
   # Target refers to the retargeting target, which is the robot hand
-  target_joint_names: null
+  target_joint_names: ['L_thumb_proximal_yaw_joint', 'L_thumb_proximal_pitch_joint',
+                       'L_index_proximal_joint', 'L_middle_proximal_joint', 
+                       'L_ring_proximal_joint', 'L_pinky_proximal_joint' ]
   target_origin_link_names: [ "L_hand_base_link", "L_hand_base_link", "L_hand_base_link", "L_hand_base_link", "L_hand_base_link"]
   target_task_link_names: [ "L_thumb_tip", "L_index_tip", "L_middle_tip", "L_ring_tip", "L_pinky_tip" ]
-  scaling_factor: 1.5
+  scaling_factor: 1.20
 
   # Source refers to the retargeting input, which usually corresponds to the human hand
   # The joint indices of human hand joint which corresponds to each link in the target_link_names
   target_link_human_indices: [ [ 0, 0, 0, 0, 0 ], [ 4, 9, 14, 19, 24 ] ]
 
   # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
-  low_pass_alpha: 0.8
+  low_pass_alpha: 0.2
 
 right:
   type: vector
@@ -22,14 +24,16 @@ right:
   wrist_link_name: "R_hand_base_link"
 
   # Target refers to the retargeting target, which is the robot hand
-  target_joint_names: null
+  target_joint_names: ['R_thumb_proximal_yaw_joint', 'R_thumb_proximal_pitch_joint',
+                       'R_index_proximal_joint', 'R_middle_proximal_joint', 
+                       'R_ring_proximal_joint', 'R_pinky_proximal_joint' ]
   target_origin_link_names: [ "R_hand_base_link", "R_hand_base_link", "R_hand_base_link", "R_hand_base_link", "R_hand_base_link"]
   target_task_link_names: [ "R_thumb_tip", "R_index_tip", "R_middle_tip", "R_ring_tip", "R_pinky_tip" ]
-  scaling_factor: 1.5
+  scaling_factor: 1.20
 
   # Source refers to the retargeting input, which usually corresponds to the human hand
   # The joint indices of human hand joint which corresponds to each link in the target_link_names
   target_link_human_indices: [ [ 0, 0, 0, 0, 0 ], [ 4, 9, 14, 19, 24 ] ]
 
   # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
-  low_pass_alpha: 0.8
+  low_pass_alpha: 0.2

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teleop/robot_control/hand_retargeting.py

@@ -5,6 +5,7 @@ from enum import Enum
 
 class HandType(Enum):
     INSPIRE_HAND = "../assets/inspire_hand/inspire_hand.yml"
+    INSPIRE_HAND_Unit_Test = "../../assets/inspire_hand/inspire_hand.yml"
     UNITREE_DEX3 = "../assets/unitree_hand/unitree_dex3.yml"
     UNITREE_DEX3_Unit_Test = "../../assets/unitree_hand/unitree_dex3.yml"
 
@@ -16,6 +17,8 @@ class HandRetargeting:
             RetargetingConfig.set_default_urdf_dir('../../assets')
         elif hand_type == HandType.INSPIRE_HAND:
             RetargetingConfig.set_default_urdf_dir('../assets')
+        elif hand_type == HandType.INSPIRE_HAND_Unit_Test:
+            RetargetingConfig.set_default_urdf_dir('../../assets')
 
         config_file_path = Path(hand_type.value)
 
@@ -33,13 +36,15 @@ class HandRetargeting:
 
             self.left_retargeting_joint_names = self.left_retargeting.joint_names
             self.right_retargeting_joint_names = self.right_retargeting.joint_names
+
+            if hand_type == HandType.UNITREE_DEX3 or hand_type == HandType.UNITREE_DEX3_Unit_Test:
                 # In section "Sort by message structure" of https://support.unitree.com/home/en/G1_developer/dexterous_hand
-            self.right_dex3_api_joint_names = [ 'right_hand_thumb_0_joint', 'right_hand_thumb_1_joint', 'right_hand_thumb_2_joint',
-                                                'right_hand_middle_0_joint', 'right_hand_middle_1_joint',
-                                                'right_hand_index_0_joint', 'right_hand_index_1_joint' ]
                 self.left_dex3_api_joint_names  = [ 'left_hand_thumb_0_joint', 'left_hand_thumb_1_joint', 'left_hand_thumb_2_joint',
                                                     'left_hand_middle_0_joint', 'left_hand_middle_1_joint', 
                                                     'left_hand_index_0_joint', 'left_hand_index_1_joint' ]
+                self.right_dex3_api_joint_names = [ 'right_hand_thumb_0_joint', 'right_hand_thumb_1_joint', 'right_hand_thumb_2_joint',
+                                                    'right_hand_middle_0_joint', 'right_hand_middle_1_joint',
+                                                    'right_hand_index_0_joint', 'right_hand_index_1_joint' ]
                 self.left_dex_retargeting_to_hardware = [ self.left_retargeting_joint_names.index(name) for name in self.left_dex3_api_joint_names]
                 self.right_dex_retargeting_to_hardware = [ self.right_retargeting_joint_names.index(name) for name in self.right_dex3_api_joint_names]
 
@@ -52,6 +57,13 @@ class HandRetargeting:
                 # ['right_hand_thumb_0_joint', 'right_hand_thumb_1_joint', 'right_hand_thumb_2_joint',
                 #  'right_hand_middle_0_joint', 'right_hand_middle_1_joint', 
                 #  'right_hand_index_0_joint', 'right_hand_index_1_joint']
+            elif hand_type == HandType.INSPIRE_HAND or hand_type == HandType.INSPIRE_HAND_Unit_Test:
+                self.left_inspire_api_joint_names  = [ 'L_pinky_proximal_joint', 'L_ring_proximal_joint', 'L_middle_proximal_joint',
+                                                       'L_index_proximal_joint', 'L_thumb_proximal_pitch_joint', 'L_thumb_proximal_yaw_joint' ]
+                self.right_inspire_api_joint_names = [ 'R_pinky_proximal_joint', 'R_ring_proximal_joint', 'R_middle_proximal_joint',
+                                                       'R_index_proximal_joint', 'R_thumb_proximal_pitch_joint', 'R_thumb_proximal_yaw_joint' ]
+                self.left_dex_retargeting_to_hardware = [ self.left_retargeting_joint_names.index(name) for name in self.left_inspire_api_joint_names]
+                self.right_dex_retargeting_to_hardware = [ self.right_retargeting_joint_names.index(name) for name in self.right_inspire_api_joint_names]
         
         except FileNotFoundError:
             print(f"Configuration file not found: {config_file_path}")

teleop/robot_control/robot_arm.py

@@ -4,15 +4,19 @@ import time
 from enum import IntEnum
 
 from unitree_sdk2py.core.channel import ChannelPublisher, ChannelSubscriber, ChannelFactoryInitialize # dds
-from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowCmd_, LowState_                                 # idl
+from unitree_sdk2py.idl.unitree_hg.msg.dds_ import ( LowCmd_  as hg_LowCmd, LowState_ as hg_LowState) # idl for g1, h1_2
 from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowCmd_
 from unitree_sdk2py.utils.crc import CRC
 
+from unitree_sdk2py.idl.unitree_go.msg.dds_ import ( LowCmd_  as go_LowCmd, LowState_ as go_LowState)  # idl for h1
+from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowCmd_
+
 kTopicLowCommand = "rt/lowcmd"
 kTopicLowState = "rt/lowstate"
 G1_29_Num_Motors = 35
 G1_23_Num_Motors = 35
 H1_2_Num_Motors = 35
+H1_Num_Motors = 20
  
 
 class MotorState:
@@ -31,6 +35,11 @@ class G1_23_LowState:
 class H1_2_LowState:
     def __init__(self):
         self.motor_state = [MotorState() for _ in range(H1_2_Num_Motors)]
+
+class H1_LowState:
+    def __init__(self):
+        self.motor_state = [MotorState() for _ in range(H1_Num_Motors)]
+
 class DataBuffer:
     def __init__(self):
         self.data = None
@@ -67,9 +76,9 @@ class G1_29_ArmController:
 
         # initialize lowcmd publisher and lowstate subscriber
         ChannelFactoryInitialize(0)
-        self.lowcmd_publisher = ChannelPublisher(kTopicLowCommand, LowCmd_)
+        self.lowcmd_publisher = ChannelPublisher(kTopicLowCommand, hg_LowCmd)
         self.lowcmd_publisher.Init()
-        self.lowstate_subscriber = ChannelSubscriber(kTopicLowState, LowState_)
+        self.lowstate_subscriber = ChannelSubscriber(kTopicLowState, hg_LowState)
         self.lowstate_subscriber.Init()
         self.lowstate_buffer = DataBuffer()
 
@@ -331,9 +340,9 @@ class G1_23_ArmController:
 
         # initialize lowcmd publisher and lowstate subscriber
         ChannelFactoryInitialize(0)
-        self.lowcmd_publisher = ChannelPublisher(kTopicLowCommand, LowCmd_)
+        self.lowcmd_publisher = ChannelPublisher(kTopicLowCommand, hg_LowCmd)
         self.lowcmd_publisher.Init()
-        self.lowstate_subscriber = ChannelSubscriber(kTopicLowState, LowState_)
+        self.lowstate_subscriber = ChannelSubscriber(kTopicLowState, hg_LowState)
         self.lowstate_subscriber.Init()
         self.lowstate_buffer = DataBuffer()
 
@@ -587,9 +596,9 @@ class H1_2_ArmController:
 
         # initialize lowcmd publisher and lowstate subscriber
         ChannelFactoryInitialize(0)
-        self.lowcmd_publisher = ChannelPublisher(kTopicLowCommand, LowCmd_)
+        self.lowcmd_publisher = ChannelPublisher(kTopicLowCommand, hg_LowCmd)
         self.lowcmd_publisher.Init()
-        self.lowstate_subscriber = ChannelSubscriber(kTopicLowState, LowState_)
+        self.lowstate_subscriber = ChannelSubscriber(kTopicLowState, hg_LowState)
         self.lowstate_subscriber.Init()
         self.lowstate_buffer = DataBuffer()
 
@@ -827,29 +836,244 @@ class H1_2_JointIndex(IntEnum):
     kNotUsedJoint6 = 33
     kNotUsedJoint7 = 34
 
+class H1_ArmController:
+    def __init__(self):
+        print("Initialize H1_ArmController...")
+        self.q_target = np.zeros(8)
+        self.tauff_target = np.zeros(8)
+
+        self.kp_high = 300.0
+        self.kd_high = 5.0
+        self.kp_low = 140.0
+        self.kd_low = 3.0
+
+        self.all_motor_q = None
+        self.arm_velocity_limit = 20.0
+        self.control_dt = 1.0 / 250.0
+
+        self._speed_gradual_max = False
+        self._gradual_start_time = None
+        self._gradual_time = None
+
+        # initialize lowcmd publisher and lowstate subscriber
+        ChannelFactoryInitialize(0)
+        self.lowcmd_publisher = ChannelPublisher(kTopicLowCommand, go_LowCmd)
+        self.lowcmd_publisher.Init()
+        self.lowstate_subscriber = ChannelSubscriber(kTopicLowState, go_LowState)
+        self.lowstate_subscriber.Init()
+        self.lowstate_buffer = DataBuffer()
+
+        # initialize subscribe thread
+        self.subscribe_thread = threading.Thread(target=self._subscribe_motor_state)
+        self.subscribe_thread.daemon = True
+        self.subscribe_thread.start()
+
+        while not self.lowstate_buffer.GetData():
+            time.sleep(0.01)
+            print("[H1_ArmController] Waiting to subscribe dds...")
+
+        # initialize h1's lowcmd msg
+        self.crc = CRC()
+        self.msg = unitree_go_msg_dds__LowCmd_()
+        self.msg.head[0] = 0xFE
+        self.msg.head[1] = 0xEF
+        self.msg.level_flag = 0xFF
+        self.msg.gpio = 0
+
+        self.all_motor_q = self.get_current_motor_q()
+        print(f"Current all body motor state q:\n{self.all_motor_q} \n")
+        print(f"Current two arms motor state q:\n{self.get_current_dual_arm_q()}\n")
+        print("Lock all joints except two arms...\n")
+
+        for id in H1_JointIndex:
+            if self._Is_weak_motor(id):
+                self.msg.motor_cmd[id].kp = self.kp_low
+                self.msg.motor_cmd[id].kd = self.kd_low
+                self.msg.motor_cmd[id].mode = 0x01
+            else:
+                self.msg.motor_cmd[id].kp = self.kp_high
+                self.msg.motor_cmd[id].kd = self.kd_high
+                self.msg.motor_cmd[id].mode = 0x0A
+            self.msg.motor_cmd[id].q  = self.all_motor_q[id]
+        print("Lock OK!\n")
+
+        # initialize publish thread
+        self.publish_thread = threading.Thread(target=self._ctrl_motor_state)
+        self.ctrl_lock = threading.Lock()
+        self.publish_thread.daemon = True
+        self.publish_thread.start()
+
+        print("Initialize H1_ArmController OK!\n")
+
+    def _subscribe_motor_state(self):
+        while True:
+            msg = self.lowstate_subscriber.Read()
+            if msg is not None:
+                lowstate = H1_LowState()
+                for id in range(H1_Num_Motors):
+                    lowstate.motor_state[id].q  = msg.motor_state[id].q
+                    lowstate.motor_state[id].dq = msg.motor_state[id].dq
+                self.lowstate_buffer.SetData(lowstate)
+            time.sleep(0.002)
+
+    def clip_arm_q_target(self, target_q, velocity_limit):
+        current_q = self.get_current_dual_arm_q()
+        delta = target_q - current_q
+        motion_scale = np.max(np.abs(delta)) / (velocity_limit * self.control_dt)
+        cliped_arm_q_target = current_q + delta / max(motion_scale, 1.0)
+        return cliped_arm_q_target
+
+    def _ctrl_motor_state(self):
+        while True:
+            start_time = time.time()
+
+            with self.ctrl_lock:
+                arm_q_target     = self.q_target
+                arm_tauff_target = self.tauff_target
+
+            cliped_arm_q_target = self.clip_arm_q_target(arm_q_target, velocity_limit = self.arm_velocity_limit)
+
+            for idx, id in enumerate(H1_JointArmIndex):
+                self.msg.motor_cmd[id].q = cliped_arm_q_target[idx]
+                self.msg.motor_cmd[id].dq = 0
+                self.msg.motor_cmd[id].tau = arm_tauff_target[idx]      
+
+            self.msg.crc = self.crc.Crc(self.msg)
+            self.lowcmd_publisher.Write(self.msg)
+
+            if self._speed_gradual_max is True:
+                t_elapsed = start_time - self._gradual_start_time
+                self.arm_velocity_limit = 20.0 + (10.0 * min(1.0, t_elapsed / 5.0))
+
+            current_time = time.time()
+            all_t_elapsed = current_time - start_time
+            sleep_time = max(0, (self.control_dt - all_t_elapsed))
+            time.sleep(sleep_time)
+            # print(f"arm_velocity_limit:{self.arm_velocity_limit}")
+            # print(f"sleep_time:{sleep_time}")
+
+    def ctrl_dual_arm(self, q_target, tauff_target):
+        '''Set control target values q & tau of the left and right arm motors.'''
+        with self.ctrl_lock:
+            self.q_target = q_target
+            self.tauff_target = tauff_target
+    
+    def get_current_motor_q(self):
+        '''Return current state q of all body motors.'''
+        return np.array([self.lowstate_buffer.GetData().motor_state[id].q for id in H1_JointIndex])
+    
+    def get_current_dual_arm_q(self):
+        '''Return current state q of the left and right arm motors.'''
+        return np.array([self.lowstate_buffer.GetData().motor_state[id].q for id in H1_JointArmIndex])
+    
+    def get_current_dual_arm_dq(self):
+        '''Return current state dq of the left and right arm motors.'''
+        return np.array([self.lowstate_buffer.GetData().motor_state[id].dq for id in H1_JointArmIndex])
+    
+    def ctrl_dual_arm_go_home(self):
+        '''Move both the left and right arms of the robot to their home position by setting the target joint angles (q) and torques (tau) to zero.'''
+        print("[H1_ArmController] ctrl_dual_arm_go_home start...")
+        with self.ctrl_lock:
+            self.q_target = np.zeros(8)
+            # self.tauff_target = np.zeros(8)
+        tolerance = 0.05  # Tolerance threshold for joint angles to determine "close to zero", can be adjusted based on your motor's precision requirements
+        while True:
+            current_q = self.get_current_dual_arm_q()
+            if np.all(np.abs(current_q) < tolerance):
+                print("[H1_ArmController] both arms have reached the home position.")
+                break
+            time.sleep(0.05)
+
+    def speed_gradual_max(self, t = 5.0):
+        '''Parameter t is the total time required for arms velocity to gradually increase to its maximum value, in seconds. The default is 5.0.'''
+        self._gradual_start_time = time.time()
+        self._gradual_time = t
+        self._speed_gradual_max = True
+
+    def speed_instant_max(self):
+        '''set arms velocity to the maximum value immediately, instead of gradually increasing.'''
+        self.arm_velocity_limit = 30.0
+
+    def _Is_weak_motor(self, motor_index):
+        weak_motors = [
+            H1_JointIndex.kLeftAnkle.value,
+            H1_JointIndex.kRightAnkle.value,
+            # Left arm
+            H1_JointIndex.kLeftShoulderPitch.value,
+            H1_JointIndex.kLeftShoulderRoll.value,
+            H1_JointIndex.kLeftShoulderYaw.value,
+            H1_JointIndex.kLeftElbow.value,
+            # Right arm
+            H1_JointIndex.kRightShoulderPitch.value,
+            H1_JointIndex.kRightShoulderRoll.value,
+            H1_JointIndex.kRightShoulderYaw.value,
+            H1_JointIndex.kRightElbow.value,
+        ]
+        return motor_index.value in weak_motors
+    
+class H1_JointArmIndex(IntEnum):
+    # Unlike G1 and H1_2, the arm order in DDS messages for H1 is right then left. 
+    # Therefore, the purpose of switching the order here is to maintain consistency with G1 and H1_2.
+    # Left arm
+    kLeftShoulderPitch = 16
+    kLeftShoulderRoll = 17
+    kLeftShoulderYaw = 18
+    kLeftElbow = 19
+    # Right arm
+    kRightShoulderPitch = 12
+    kRightShoulderRoll = 13
+    kRightShoulderYaw = 14
+    kRightElbow = 15
+
+class H1_JointIndex(IntEnum):
+    kRightHipRoll = 0
+    kRightHipPitch = 1
+    kRightKnee = 2
+    kLeftHipRoll = 3
+    kLeftHipPitch = 4
+    kLeftKnee = 5
+    kWaistYaw = 6
+    kLeftHipYaw = 7
+    kRightHipYaw = 8
+    kNotUsedJoint = 9
+    kLeftAnkle = 10
+    kRightAnkle = 11
+    # Right arm
+    kRightShoulderPitch = 12
+    kRightShoulderRoll = 13
+    kRightShoulderYaw = 14
+    kRightElbow = 15
+    # Left arm
+    kLeftShoulderPitch = 16
+    kLeftShoulderRoll = 17
+    kLeftShoulderYaw = 18
+    kLeftElbow = 19
+
 if __name__ == "__main__":
-    from robot_arm_ik import G1_29_ArmIK, H1_2_ArmIK
+    from robot_arm_ik import G1_29_ArmIK, G1_23_ArmIK, H1_2_ArmIK, H1_ArmIK
     import pinocchio as pin 
 
-    # arm_ik = G1_29_ArmIK(Unit_Test = True, Visualization = False)
-    # arm = G1_29_ArmController()
-    arm_ik = H1_2_ArmIK(Unit_Test = True, Visualization = False)
-    arm = H1_2_ArmController()
+    arm_ik = G1_29_ArmIK(Unit_Test = True, Visualization = False)
+    arm = G1_29_ArmController()
+    # arm_ik = G1_23_ArmIK(Unit_Test = True, Visualization = False)
+    # arm = G1_23_ArmController()
+    # arm_ik = H1_2_ArmIK(Unit_Test = True, Visualization = False)
+    # arm = H1_2_ArmController()
+    # arm_ik = H1_ArmIK(Unit_Test = True, Visualization = True)
+    # arm = H1_ArmController()
 
     # initial positon
     L_tf_target = pin.SE3(
         pin.Quaternion(1, 0, 0, 0),
-        np.array([0.25, +0.2, 0.1]),
+        np.array([0.25, +0.25, 0.1]),
     )
 
     R_tf_target = pin.SE3(
         pin.Quaternion(1, 0, 0, 0),
-        np.array([0.25, -0.2, 0.1]),
+        np.array([0.25, -0.25, 0.1]),
     )
 
     rotation_speed = 0.005  # Rotation speed in radians per iteration
-    q_target = np.zeros(35)
-    tauff_target = np.zeros(35)
 
     user_input = input("Please enter the start signal (enter 's' to start the subsequent program): \n")
     if user_input.lower() == 's':

teleop/robot_control/robot_arm_ik.py

@@ -4,7 +4,6 @@ import numpy as np
 import pinocchio as pin                             
 import time
 from pinocchio import casadi as cpin    
-from pinocchio.robot_wrapper import RobotWrapper    
 from pinocchio.visualize import MeshcatVisualizer   
 import os
 import sys
@@ -85,7 +84,8 @@ class G1_29_ArmIK:
         #     frame = self.reduced_robot.model.frames[i]
         #     frame_id = self.reduced_robot.model.getFrameId(frame.name)
         #     print(f"Frame ID: {frame_id}, Name: {frame.name}")
-        
+        for idx, name in enumerate(self.reduced_robot.model.names):
+            print(f"{idx}: {name}")
         # Creating Casadi models and data for symbolic computing
         self.cmodel = cpin.Model(self.reduced_robot.model)
         self.cdata = self.cmodel.createData()
@@ -637,7 +637,7 @@ class H1_2_ArmIK:
             self.vis = MeshcatVisualizer(self.reduced_robot.model, self.reduced_robot.collision_model, self.reduced_robot.visual_model)
             self.vis.initViewer(open=True) 
             self.vis.loadViewerModel("pinocchio") 
-            self.vis.displayFrames(True, frame_ids=[101, 102], axis_length = 0.15, axis_width = 5)
+            self.vis.displayFrames(True, frame_ids=[113, 114], axis_length = 0.15, axis_width = 5)
             self.vis.display(pin.neutral(self.reduced_robot.model))
 
             # Enable the display of end effector target frames with short axis lengths and greater width.
@@ -735,11 +735,265 @@ class H1_2_ArmIK:
             # return sol_q, sol_tauff
             return current_lr_arm_motor_q, np.zeros(self.reduced_robot.model.nv)
 
+class H1_ArmIK:
+    def __init__(self, Unit_Test = False, Visualization = False):
+        np.set_printoptions(precision=5, suppress=True, linewidth=200)
+
+        self.Unit_Test = Unit_Test
+        self.Visualization = Visualization
+
+        if not self.Unit_Test:
+            self.robot = pin.RobotWrapper.BuildFromURDF('../assets/h1/h1_with_hand.urdf', '../assets/h1/')
+        else:
+            self.robot = pin.RobotWrapper.BuildFromURDF('../../assets/h1/h1_with_hand.urdf', '../../assets/h1/') # for test
+
+        self.mixed_jointsToLockIDs = [
+                                        "right_hip_roll_joint",
+                                        "right_hip_pitch_joint",
+                                        "right_knee_joint",
+                                        "left_hip_roll_joint",
+                                        "left_hip_pitch_joint",
+                                        "left_knee_joint",
+                                        "torso_joint",
+                                        "left_hip_yaw_joint",
+                                        "right_hip_yaw_joint",
+
+                                        "left_ankle_joint",
+                                        "right_ankle_joint",
+
+                                        "L_index_proximal_joint",
+                                        "L_index_intermediate_joint",
+                                        "L_middle_proximal_joint",
+                                        "L_middle_intermediate_joint",
+                                        "L_ring_proximal_joint",
+                                        "L_ring_intermediate_joint",
+                                        "L_pinky_proximal_joint",
+                                        "L_pinky_intermediate_joint",
+                                        "L_thumb_proximal_yaw_joint",
+                                        "L_thumb_proximal_pitch_joint",
+                                        "L_thumb_intermediate_joint",
+                                        "L_thumb_distal_joint",
+                                        
+                                        "R_index_proximal_joint",
+                                        "R_index_intermediate_joint",
+                                        "R_middle_proximal_joint",
+                                        "R_middle_intermediate_joint",
+                                        "R_ring_proximal_joint",
+                                        "R_ring_intermediate_joint",
+                                        "R_pinky_proximal_joint",
+                                        "R_pinky_intermediate_joint",
+                                        "R_thumb_proximal_yaw_joint",
+                                        "R_thumb_proximal_pitch_joint",
+                                        "R_thumb_intermediate_joint",
+                                        "R_thumb_distal_joint",
+
+                                        "left_hand_joint",
+                                        "right_hand_joint"  
+                                    ]
+
+        self.reduced_robot = self.robot.buildReducedRobot(
+            list_of_joints_to_lock=self.mixed_jointsToLockIDs,
+            reference_configuration=np.array([0.0] * self.robot.model.nq),
+        )
+
+        self.reduced_robot.model.addFrame(
+            pin.Frame('L_ee',
+                      self.reduced_robot.model.getJointId('left_elbow_joint'),
+                      pin.SE3(np.eye(3),
+                              np.array([0.2605 + 0.05,0,0]).T),
+                      pin.FrameType.OP_FRAME)
+        )
+        
+        self.reduced_robot.model.addFrame(
+            pin.Frame('R_ee',
+                      self.reduced_robot.model.getJointId('right_elbow_joint'),
+                      pin.SE3(np.eye(3),
+                              np.array([0.2605 + 0.05,0,0]).T),
+                      pin.FrameType.OP_FRAME)
+        )
+
+        # for i in range(self.reduced_robot.model.nframes):
+        #     frame = self.reduced_robot.model.frames[i]
+        #     frame_id = self.reduced_robot.model.getFrameId(frame.name)
+        #     print(f"Frame ID: {frame_id}, Name: {frame.name}")
+        
+        # Creating Casadi models and data for symbolic computing
+        self.cmodel = cpin.Model(self.reduced_robot.model)
+        self.cdata = self.cmodel.createData()
+
+        # Creating symbolic variables
+        self.cq = casadi.SX.sym("q", self.reduced_robot.model.nq, 1) 
+        self.cTf_l = casadi.SX.sym("tf_l", 4, 4)
+        self.cTf_r = casadi.SX.sym("tf_r", 4, 4)
+        cpin.framesForwardKinematics(self.cmodel, self.cdata, self.cq)
+
+        # Get the hand joint ID and define the error function
+        self.L_hand_id = self.reduced_robot.model.getFrameId("L_ee")
+        self.R_hand_id = self.reduced_robot.model.getFrameId("R_ee")
+
+        self.translational_error = casadi.Function(
+            "translational_error",
+            [self.cq, self.cTf_l, self.cTf_r],
+            [
+                casadi.vertcat(
+                    self.cdata.oMf[self.L_hand_id].translation - self.cTf_l[:3,3],
+                    self.cdata.oMf[self.R_hand_id].translation - self.cTf_r[:3,3]
+                )
+            ],
+        )
+        self.rotational_error = casadi.Function(
+            "rotational_error",
+            [self.cq, self.cTf_l, self.cTf_r],
+            [
+                casadi.vertcat(
+                    cpin.log3(self.cdata.oMf[self.L_hand_id].rotation @ self.cTf_l[:3,:3].T),
+                    cpin.log3(self.cdata.oMf[self.R_hand_id].rotation @ self.cTf_r[:3,:3].T)
+                )
+            ],
+        )
+
+        # Defining the optimization problem
+        self.opti = casadi.Opti()
+        self.var_q = self.opti.variable(self.reduced_robot.model.nq)
+        self.var_q_last = self.opti.parameter(self.reduced_robot.model.nq)   # for smooth
+        self.param_tf_l = self.opti.parameter(4, 4)
+        self.param_tf_r = self.opti.parameter(4, 4)
+        self.translational_cost = casadi.sumsqr(self.translational_error(self.var_q, self.param_tf_l, self.param_tf_r))
+        self.rotation_cost = casadi.sumsqr(self.rotational_error(self.var_q, self.param_tf_l, self.param_tf_r))
+        self.regularization_cost = casadi.sumsqr(self.var_q)
+        self.smooth_cost = casadi.sumsqr(self.var_q - self.var_q_last)
+
+        # Setting optimization constraints and goals
+        self.opti.subject_to(self.opti.bounded(
+            self.reduced_robot.model.lowerPositionLimit,
+            self.var_q,
+            self.reduced_robot.model.upperPositionLimit)
+        )
+        self.opti.minimize(50 * self.translational_cost + 0.5 * self.rotation_cost + 0.02 * self.regularization_cost + 0.1 * self.smooth_cost)
+
+        opts = {
+            'ipopt':{
+                'print_level':0,
+                'max_iter':50,
+                'tol':1e-6
+            },
+            'print_time':False,# print or not
+            'calc_lam_p':False # https://github.com/casadi/casadi/wiki/FAQ:-Why-am-I-getting-%22NaN-detected%22in-my-optimization%3F
+        }
+        self.opti.solver("ipopt", opts)
+
+        self.init_data = np.zeros(self.reduced_robot.model.nq)
+        self.smooth_filter = WeightedMovingFilter(np.array([0.4, 0.3, 0.2, 0.1]), 8)
+        self.vis = None
+
+        if self.Visualization:
+            # Initialize the Meshcat visualizer for visualization
+            self.vis = MeshcatVisualizer(self.reduced_robot.model, self.reduced_robot.collision_model, self.reduced_robot.visual_model)
+            self.vis.initViewer(open=True) 
+            self.vis.loadViewerModel("pinocchio") 
+            self.vis.displayFrames(True, frame_ids=[105, 106], axis_length = 0.15, axis_width = 5)
+            self.vis.display(pin.neutral(self.reduced_robot.model))
+
+            # Enable the display of end effector target frames with short axis lengths and greater width.
+            frame_viz_names = ['L_ee_target', 'R_ee_target']
+            FRAME_AXIS_POSITIONS = (
+                np.array([[0, 0, 0], [1, 0, 0],
+                          [0, 0, 0], [0, 1, 0],
+                          [0, 0, 0], [0, 0, 1]]).astype(np.float32).T
+            )
+            FRAME_AXIS_COLORS = (
+                np.array([[1.0, 0.3, 0.3], [1.0, 0.7, 0.7],
+                          [0.3, 1.0, 0.5], [0.7, 1.0, 0.8],
+                          [0.3, 0.8, 1.0], [0.7, 0.9, 1.0]]).astype(np.float32).T
+            )
+            axis_length = 0.1
+            axis_width = 10
+            for frame_viz_name in frame_viz_names:
+                self.vis.viewer[frame_viz_name].set_object(
+                    mg.LineSegments(
+                        mg.PointsGeometry(
+                            position=axis_length * FRAME_AXIS_POSITIONS,
+                            color=FRAME_AXIS_COLORS,
+                        ),
+                        mg.LineBasicMaterial(
+                            linewidth=axis_width,
+                            vertexColors=True,
+                        ),
+                    )
+                )
+    # If the robot arm is not the same size as your arm :)
+    def scale_arms(self, human_left_pose, human_right_pose, human_arm_length=0.60, robot_arm_length=0.75):
+        scale_factor = robot_arm_length / human_arm_length
+        robot_left_pose = human_left_pose.copy()
+        robot_right_pose = human_right_pose.copy()
+        robot_left_pose[:3, 3] *= scale_factor
+        robot_right_pose[:3, 3] *= scale_factor
+        return robot_left_pose, robot_right_pose
+
+    def solve_ik(self, left_wrist, right_wrist, current_lr_arm_motor_q = None, current_lr_arm_motor_dq = None):
+        if current_lr_arm_motor_q is not None:
+            self.init_data = current_lr_arm_motor_q
+        self.opti.set_initial(self.var_q, self.init_data)
+
+        left_wrist, right_wrist = self.scale_arms(left_wrist, right_wrist)
+        if self.Visualization:
+            self.vis.viewer['L_ee_target'].set_transform(left_wrist)   # for visualization
+            self.vis.viewer['R_ee_target'].set_transform(right_wrist)  # for visualization
+
+        self.opti.set_value(self.param_tf_l, left_wrist)
+        self.opti.set_value(self.param_tf_r, right_wrist)
+        self.opti.set_value(self.var_q_last, self.init_data) # for smooth
+
+        try:
+            sol = self.opti.solve()
+            # sol = self.opti.solve_limited()
+
+            sol_q = self.opti.value(self.var_q)
+            self.smooth_filter.add_data(sol_q)
+            sol_q = self.smooth_filter.filtered_data
+
+            if current_lr_arm_motor_dq is not None:
+                v = current_lr_arm_motor_dq * 0.0
+            else:
+                v = (sol_q - self.init_data) * 0.0
+
+            self.init_data = sol_q
+
+            sol_tauff = pin.rnea(self.reduced_robot.model, self.reduced_robot.data, sol_q, v, np.zeros(self.reduced_robot.model.nv))
+
+            if self.Visualization:
+                self.vis.display(sol_q)  # for visualization
+
+            return sol_q, sol_tauff
+        
+        except Exception as e:
+            print(f"ERROR in convergence, plotting debug info.{e}")
+
+            sol_q = self.opti.debug.value(self.var_q)
+            self.smooth_filter.add_data(sol_q)
+            sol_q = self.smooth_filter.filtered_data
+
+            if current_lr_arm_motor_dq is not None:
+                v = current_lr_arm_motor_dq * 0.0
+            else:
+                v = (sol_q - self.init_data) * 0.0
+
+            self.init_data = sol_q
+
+            sol_tauff = pin.rnea(self.reduced_robot.model, self.reduced_robot.data, sol_q, v, np.zeros(self.reduced_robot.model.nv))
+
+            print(f"sol_q:{sol_q} \nmotorstate: \n{current_lr_arm_motor_q} \nleft_pose: \n{left_wrist} \nright_pose: \n{right_wrist}")
+            if self.Visualization:
+                self.vis.display(sol_q)  # for visualization
+
+            # return sol_q, sol_tauff
+            return current_lr_arm_motor_q, np.zeros(self.reduced_robot.model.nv)
         
 if __name__ == "__main__":
-    # arm_ik = G1_29_ArmIK(Unit_Test = True, Visualization = True)
+    arm_ik = G1_29_ArmIK(Unit_Test = True, Visualization = True)
     # arm_ik = H1_2_ArmIK(Unit_Test = True, Visualization = True)
-    arm_ik = G1_23_ArmIK(Unit_Test = True, Visualization = True)
+    # arm_ik = G1_23_ArmIK(Unit_Test = True, Visualization = True)
+    # arm_ik = H1_ArmIK(Unit_Test = True, Visualization = True)
 
     # initial positon
     L_tf_target = pin.SE3(
@@ -754,7 +1008,7 @@ if __name__ == "__main__":
 
     rotation_speed = 0.005
     noise_amplitude_translation = 0.001
-    noise_amplitude_rotation = 0.05
+    noise_amplitude_rotation = 0.01
 
     user_input = input("Please enter the start signal (enter 's' to start the subsequent program):\n")
     if user_input.lower() == 's':

teleop/robot_control/robot_hand_inspire.py

@@ -1,55 +1,172 @@
 # this file is legacy, need to fix.
-from unitree_dds_wrapper.idl import unitree_go
-from unitree_dds_wrapper.publisher import Publisher
-from unitree_dds_wrapper.subscription import Subscription
-from avp_teleoperate.teleop.open_television.constants import inspire_tip_indices
+from unitree_sdk2py.core.channel import ChannelPublisher, ChannelSubscriber, ChannelFactoryInitialize # dds
+from unitree_sdk2py.idl.unitree_go.msg.dds_ import MotorCmds_, MotorStates_                           # idl
+from unitree_sdk2py.idl.default import unitree_go_msg_dds__MotorCmd_
+
 from teleop.robot_control.hand_retargeting import HandRetargeting, HandType
 import numpy as np
+from enum import IntEnum
 import threading
 import time
+from multiprocessing import Process, shared_memory, Array, Lock
 
 inspire_tip_indices = [4, 9, 14, 19, 24]
+Inspire_Num_Motors = 6
+kTopicInspireCommand = "rt/inspire/cmd"
+kTopicInspireState = "rt/inspire/state"
+
+class Inspire_Controller:
+    def __init__(self, left_hand_array, right_hand_array, dual_hand_data_lock = None, dual_hand_state_array = None,
+                       dual_hand_action_array = None, fps = 100.0, Unit_Test = False):
+        print("Initialize Inspire_Controller...")
+        self.fps = fps
+        self.Unit_Test = Unit_Test
+        if not self.Unit_Test:
+            self.hand_retargeting = HandRetargeting(HandType.INSPIRE_HAND)
+        else:
+            self.hand_retargeting = HandRetargeting(HandType.INSPIRE_HAND_Unit_Test)
+            ChannelFactoryInitialize(0)
+
+        # initialize handcmd publisher and handstate subscriber
+        self.HandCmb_publisher = ChannelPublisher(kTopicInspireCommand, MotorCmds_)
+        self.HandCmb_publisher.Init()
 
-class InspireController:
-    def __init__(self):
-        self.cmd = unitree_go.msg.dds_.MotorCmds_()
-        self.state = unitree_go.msg.dds_.MotorStates_()
-        self.lock = threading.Lock()
-        self.handcmd = Publisher(unitree_go.msg.dds_.MotorCmds_, "rt/inspire/cmd")
-        self.handstate = Subscription(unitree_go.msg.dds_.MotorStates_, "rt/inspire/state")
-        self.cmd.cmds = [unitree_go.msg.dds_.MotorCmd_() for _ in range(12)]
-        self.state.states = [unitree_go.msg.dds_.MotorState_() for _ in range(12)]
-
-        self.subscribe_state_thread = threading.Thread(target=self.subscribe_state)
+        self.HandState_subscriber = ChannelSubscriber(kTopicInspireState, MotorStates_)
+        self.HandState_subscriber.Init()
+
+        # Shared Arrays for hand states
+        self.left_hand_state_array  = Array('d', Inspire_Num_Motors, lock=True)  
+        self.right_hand_state_array = Array('d', Inspire_Num_Motors, lock=True)
+
+        # initialize subscribe thread
+        self.subscribe_state_thread = threading.Thread(target=self._subscribe_hand_state)
         self.subscribe_state_thread.daemon = True
         self.subscribe_state_thread.start()
 
-        self.hand_retargeting = HandRetargeting(HandType.INSPIRE_HAND)
-
-    def subscribe_state(self):
         while True:
-            if self.handstate.msg:
-                self.state = self.handstate.msg
+            if any(self.right_hand_state_array): # any(self.left_hand_state_array) and 
+                break
             time.sleep(0.01)
+            print("[Inspire_Controller] Waiting to subscribe dds...")
+
+        hand_control_process = Process(target=self.control_process, args=(left_hand_array, right_hand_array,  self.left_hand_state_array, self.right_hand_state_array,
+                                                                          dual_hand_data_lock, dual_hand_state_array, dual_hand_action_array))
+        hand_control_process.daemon = True
+        hand_control_process.start()
+
+        print("Initialize Inspire_Controller OK!\n")
+
+    def _subscribe_hand_state(self):
+        while True:
+            hand_msg  = self.HandState_subscriber.Read()
+            if hand_msg is not None:
+                for idx, id in enumerate(Inspire_Left_Hand_JointIndex):
+                    self.right_hand_state_array[idx] = hand_msg.states[id].q
+                for idx, id in enumerate(Inspire_Right_Hand_JointIndex):
+                    self.left_hand_state_array[idx] = hand_msg.states[id].q
+            time.sleep(0.002)
+
+    def ctrl_dual_hand(self, left_q_target, right_q_target):
+        """
+        Set current left, right hand motor state target q
+        """
+        for idx, id in enumerate(Inspire_Left_Hand_JointIndex):             
+            self.hand_msg.cmds[id].q = left_q_target[idx]         
+        for idx, id in enumerate(Inspire_Right_Hand_JointIndex):             
+            self.hand_msg.cmds[id].q = right_q_target[idx] 
+
+        self.HandCmb_publisher.Write(self.hand_msg)
+        # print("hand ctrl publish ok.")
+    
+    def control_process(self, left_hand_array, right_hand_array, left_hand_state_array, right_hand_state_array,
+                              dual_hand_data_lock = None, dual_hand_state_array = None, dual_hand_action_array = None):
+        self.running = True
+
+        left_q_target  = np.full(Inspire_Num_Motors, 1.0)
+        right_q_target = np.full(Inspire_Num_Motors, 1.0)
+
+        # initialize inspire hand's cmd msg
+        self.hand_msg  = MotorCmds_()
+        self.hand_msg.cmds = [unitree_go_msg_dds__MotorCmd_() for _ in range(len(Inspire_Right_Hand_JointIndex) + len(Inspire_Left_Hand_JointIndex))]
+
+        for idx, id in enumerate(Inspire_Left_Hand_JointIndex):
+            self.hand_msg.cmds[id].q = 1.0
+        for idx, id in enumerate(Inspire_Right_Hand_JointIndex):
+            self.hand_msg.cmds[id].q = 1.0
+
+        try:
+            while self.running:
+                start_time = time.time()
+                # get dual hand state
+                left_hand_mat  = np.array(left_hand_array[:]).reshape(25, 3).copy()
+                right_hand_mat = np.array(right_hand_array[:]).reshape(25, 3).copy()
+
+                # Read left and right q_state from shared arrays
+                state_data = np.concatenate((np.array(left_hand_state_array[:]), np.array(right_hand_state_array[:])))
+
+                if not np.all(right_hand_mat == 0.0) and not np.all(left_hand_mat[4] == np.array([-1.13, 0.3, 0.15])): # if hand data has been initialized.
+                    ref_left_value = left_hand_mat[inspire_tip_indices]
+                    ref_right_value = right_hand_mat[inspire_tip_indices]
+
+                    left_q_target  = self.hand_retargeting.left_retargeting.retarget(ref_left_value)[self.hand_retargeting.right_dex_retargeting_to_hardware]
+                    right_q_target = self.hand_retargeting.right_retargeting.retarget(ref_right_value)[self.hand_retargeting.right_dex_retargeting_to_hardware]
+
+                    # In website https://support.unitree.com/home/en/G1_developer/inspire_dfx_dexterous_hand, you can find
+                    #     In the official document, the angles are in the range [0, 1] ==> 0.0: fully closed  1.0: fully open
+                    # The q_target now is in radians, ranges:
+                    #     - idx 0~3: 0~1.7 (1.7 = closed)
+                    #     - idx 4:   0~0.5
+                    #     - idx 5:  -0.1~1.3
+                    # We normalize them using (max - value) / range
+                    def normalize(val, min_val, max_val):
+                        return np.clip((max_val - val) / (max_val - min_val), 0.0, 1.0)
+
+                    for idx in range(Inspire_Num_Motors):
+                        if idx <= 3:
+                            left_q_target[idx]  = normalize(left_q_target[idx], 0.0, 1.7)
+                            right_q_target[idx] = normalize(right_q_target[idx], 0.0, 1.7)
+                        elif idx == 4:
+                            left_q_target[idx]  = normalize(left_q_target[idx], 0.0, 0.5)
+                            right_q_target[idx] = normalize(right_q_target[idx], 0.0, 0.5)
+                        elif idx == 5:
+                            left_q_target[idx]  = normalize(left_q_target[idx], -0.1, 1.3)
+                            right_q_target[idx] = normalize(right_q_target[idx], -0.1, 1.3)
+
+                # get dual hand action
+                action_data = np.concatenate((left_q_target, right_q_target))    
+                if dual_hand_state_array and dual_hand_action_array:
+                    with dual_hand_data_lock:
+                        dual_hand_state_array[:] = state_data
+                        dual_hand_action_array[:] = action_data
+
+                self.ctrl_dual_hand(left_q_target, right_q_target)
+                current_time = time.time()
+                time_elapsed = current_time - start_time
+                sleep_time = max(0, (1 / self.fps) - time_elapsed)
+                time.sleep(sleep_time)
+        finally:
+            print("Dex3_1_Controller has been closed.")
+
+# Update hand state, according to the official documentation, https://support.unitree.com/home/en/G1_developer/inspire_dfx_dexterous_hand
+# the state sequence is as shown in the table below
+# ┌──────┬───────┬──────┬────────┬────────┬────────────┬────────────────┬───────┬──────┬────────┬────────┬────────────┬────────────────┐
+# │ Id   │   0   │  1   │   2    │   3    │     4      │       5        │   6   │  7   │   8    │   9    │    10      │       11       │
+# ├──────┼───────┼──────┼────────┼────────┼────────────┼────────────────┼───────┼──────┼────────┼────────┼────────────┼────────────────┤
+# │      │                    Right Hand                                │                   Left Hand                                  │
+# │Joint │ pinky │ ring │ middle │ index  │ thumb-bend │ thumb-rotation │ pinky │ ring │ middle │ index  │ thumb-bend │ thumb-rotation │
+# └──────┴───────┴──────┴────────┴────────┴────────────┴────────────────┴───────┴──────┴────────┴────────┴────────────┴────────────────┘
+class Inspire_Right_Hand_JointIndex(IntEnum):
+    kRightHandPinky = 0
+    kRightHandRing = 1
+    kRightHandMiddle = 2
+    kRightHandIndex = 3
+    kRightHandThumbBend = 4
+    kRightHandThumbRotation = 5
 
-    def ctrl(self, left_angles, right_angles):
-        for i in range(6):
-            self.cmd.cmds[i].q = right_angles[i]
-            self.cmd.cmds[i+6].q = left_angles[i]
-        self.handcmd.msg.cmds = self.cmd.cmds
-        self.handcmd.write()
-
-    def get_current_dual_hand_q(self):
-        with self.lock:
-            q = np.array([self.state.states[i].q for i in range(12)])
-            return q
-        
-    def get_right_q(self):
-        with self.lock:
-            q = np.array([self.state.states[i].q for i in range(6)])
-            return q
-
-    def get_left_q(self):
-        with self.lock:
-            q = np.array([self.state.states[i+6].q for i in range(6)])
-            return q
+class Inspire_Left_Hand_JointIndex(IntEnum):
+    kLeftHandPinky = 6
+    kLeftHandRing = 7
+    kLeftHandMiddle = 8
+    kLeftHandIndex = 9
+    kLeftHandThumbBend = 10
+    kLeftHandThumbRotation = 11