From f9a809542bd19f4b47f40b69b9d3b6f3ff1ac7da Mon Sep 17 00:00:00 2001 From: silencht Date: Wed, 7 Aug 2024 09:45:18 +0800 Subject: [PATCH] [update] README and LICENSE --- LICENSE | 22 ++++++++++++---------- README.md | 35 ++++++++++++++++++++++------------- 2 files changed, 34 insertions(+), 23 deletions(-) diff --git a/LICENSE b/LICENSE index b782c89..a8ff93b 100644 --- a/LICENSE +++ b/LICENSE @@ -1,4 +1,4 @@ -Copyright [2024] [Xuxin Cheng, Jialong Li, Shiqi Yang, Ge Yang and Xiaolong Wang] +Copyright [2024] [HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")] Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. @@ -16,13 +16,15 @@ limitations under the License. This code builds upon following open-source code-bases. Please visit the URLs to see the respective LICENSES: -1) https://github.com/tonyzhaozh/act -2) https://github.com/facebookresearch/detr -3) https://github.com/dexsuite/dex-retargeting -4) https://github.com/vuer-ai/vuer -5) https://github.com/stack-of-tasks/pinocchio -6) https://github.com/casadi/casadi -7) https://github.com/meshcat-dev/meshcat-python -8) https://github.com/zeromq/pyzmq +1) https://github.com/OpenTeleVision/TeleVision +2) https://github.com/dexsuite/dex-retargeting +3) https://github.com/vuer-ai/vuer +4) https://github.com/stack-of-tasks/pinocchio +5) https://github.com/casadi/casadi +6) https://github.com/meshcat-dev/meshcat-python +7) https://github.com/zeromq/pyzmq +8) https://github.com/unitreerobotics/unitree_dds_wrapper +9) https://github.com/tonyzhaozh/act +10) https://github.com/facebookresearch/detr ------------------- \ No newline at end of file +------------------ diff --git a/README.md b/README.md index c5e8adf..de804cc 100644 --- a/README.md +++ b/README.md @@ -5,12 +5,14 @@ # Introduction This repository implements teleoperation of the humanoid robot Unitree H1_2 using Apple Vision Pro. + + # Prerequisites We tested our code on Ubuntu 20.04 and Ubuntu 22.04, other operating systems may be configured differently. For more information, you can refer to [Official documentation ]() and [OpenTeleVision](https://github.com/OpenTeleVision/TeleVision). - + ## inverse kinematics @@ -32,21 +34,23 @@ cd unitree_dds_wrapper/python pip3 install -e . ``` + + ## TeleVision and Apple Vision Pro configuration ### basic ```bash cd ~ -git clone https://github.com/unitreerobotics/avp_teleoperate_robot.git -cd ~/avp_teleoperate_robot +git clone https://github.com/unitreerobotics/avp_teleoperate.git +cd ~/avp_teleoperate pip install -r requirements.txt cd act/detr && pip install -e . ``` ### Isaac Gym -If you want to try teleoperation example in a simulated environment (teleop_hand.py): +If you want to try teleoperation example in a simulated environment (`teleop_hand.py`): 1. Download Isaac Gym: https://developer.nvidia.com/isaac-gym/download 2. Extracting to the current directory, go to the `IsaacGym_Preview_4_Package/isaacgym/python` directory and execute the command: `pip install -e .` @@ -58,10 +62,10 @@ If you want to try teleoperation example in a simulated environment (teleop_hand 2. check local ip address: ```bash - ifconfig | grep inet +ifconfig | grep inet ``` -Suppose the local ip address of the ubuntu machine is `192.168.123.2`. +Suppose the local ip address of the ubuntu machine is `192.168.123.2` 3. create certificate: @@ -69,7 +73,7 @@ Suppose the local ip address of the ubuntu machine is `192.168.123.2`. mkcert -install && mkcert -cert-file cert.pem -key-file key.pem 192.168.123.2 localhost 127.0.0.1 ``` -ps. place the generated cert.pem and key.pem files in teleop. +ps. place the generated cert.pem and key.pem files in `teleop`. ```bash cp cert.pem key.pem ~/avp_teleoperate_robot/teleop/ @@ -87,7 +91,7 @@ sudo ufw allow 8012 mkcert -CAROOT ``` -Copy the rootCA.pem via AirDrop to VisionPro and install it. +Copy the `rootCA.pem` via AirDrop to VisionPro and install it. Settings > General > About > Certificate Trust Settings. Under "Enable full trust for root certificates", turn on trust for the certificate. @@ -95,7 +99,7 @@ settings > Apps > Safari > Advanced > Feature Flags > Enable WebXR Related Featu 6. open the browser on Safari on VisionPro and go to https://192.168.123.2:8012?ws=wss://192.168.123.2:8012 -7. Click "Enter VR" and Allow to start the VR session. +7. Click `Enter VR` and `Allow` to start the VR session. ### Simulation Teleoperation Example 1. After setup up streaming with either local or network streaming following the above instructions, you can try teleoperating two robot hands in Issac Gym: @@ -119,6 +123,8 @@ settings > Apps > Safari > Advanced > Feature Flags > Enable WebXR Related Featu

--> + + # Usage ## Dexterous hands service @@ -137,7 +143,7 @@ Open another terminal and execute the following command to test. If two hands op ## Image Server -Copy `image_server.py` in the `avp_teleoperate_robot/teleop/image_server` directory to the PC of Unitree H1_2, and execute the following command **in the PC**: +Copy `image_server.py` in the `avp_teleoperate/teleop/image_server` directory to the PC of Unitree H1_2, and execute the following command **in the PC**: ```bash sudo python image_server.py @@ -153,14 +159,15 @@ python image_client.py ```bash python unitree_human_robot.py - ``` + + # Codebase Tutorial -The overall structure of the code remains the same as TeleVision, and we will only focus on the directory of files related to Unitree Robot +The overall structure of the code remains the same as TeleVision, and we only focus on the modified file directories related to Unitree Robot. - avp_teleoperate_robot/ + avp_teleoperate/ │ ├── act [Documents Related to ACT Policy for Imitation Learning] │ @@ -182,7 +189,9 @@ The overall structure of the code remains the same as TeleVision, and we will on | |——teleop_hand.py [Can be used for testing the environment configuration] + # Acknowledgement + This code builds upon following open-source code-bases. Please visit the URLs to see the respective LICENSES: 1) https://github.com/OpenTeleVision/TeleVision