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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.

inverse kinematics

conda create -n tv python=3.8
conda activate tv
# If you use `pip install`, Make sure pinocchio version is 3.1.0
conda install pinocchio -c conda-forge
pip install meshcat
pip install casadi

unitree_dds_wrapper

# Install the Python version of the unitree_dds_wrapper.
git clone https://github.com/unitreerobotics/unitree_dds_wrapper.git
cd unitree_dds_wrapper/python
pip install -e .

TeleVision and Apple Vision Pro configuration

basic

cd ~
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):

Download Isaac Gym: https://developer.nvidia.com/isaac-gym/download
Extracting to the current directory, go to the IsaacGym_Preview_4_Package/isaacgym/python directory and execute the command: pip install -e .

Local streaming

Apple does not allow WebXR on non-https connections. To test the application locally, we need to create a self-signed certificate and install it on the client. You need a ubuntu machine and a router. Connect the VisionPro and the ubuntu machine to the same router.

install mkcert: https://github.com/FiloSottile/mkcert
check local ip address:

ifconfig | grep inet

Suppose the local ip address of the ubuntu machine is 192.168.123.2

create certificate:

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.

cp cert.pem key.pem ~/avp_teleoperate/teleop/

open firewall on server:

sudo ufw allow 8012

install ca-certificates on VisionPro:

mkcert -CAROOT

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.

settings > Apps > Safari > Advanced > Feature Flags > Enable WebXR Related Features

open the browser on Safari on VisionPro and go to https://192.168.123.2:8012?ws=wss://192.168.123.2:8012
Click Enter VR and Allow to start the VR session.

Simulation Teleoperation Example

After setup up streaming with either local or network streaming following the above instructions, you can try teleoperating two robot hands in Issac Gym:
```
cd teleop && python teleop_hand.py
```
Go to your vuer site on VisionPro, click Enter VR and Allow to enter immersive environment.
See your hands in 3D!

Usage

Please read the Official Documentation at least once before starting this program.

Dexterous hands service

You can refer to Dexterous Hand Development to configure related environments and compile control programs. First, use this URL to download the dexterous hand control interface program and copy it to PC of Unitree H1_2. On Unitree H1_2's PC, execute command:

sudo apt install libboost-all-dev libspdlog-dev
# Build project
cd h1_inspire_service & mkdir build & cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make
# Terminal 1. Run h1 inspire hand service
sudo ./inspire_hand -s /dev/ttyUSB0
# Terminal 2. Run example
./h1_hand_example

If two hands open and close continuously, it indicates success. Once successful, close the ./h1_hand_example program in Terminal 2.

Image Server

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:

sudo python image_server.py

After image service is started, you can use image_client.py in the Host terminal to test whether the communication is successful:

python image_client.py

Start

Warning : All persons must maintain an adequate safety distance from the robot to avoid danger!

python teleop_hand_and_arm.py

Codebase Tutorial

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/
│
├── act                       [Documents Related to ACT Policy for Imitation Learning]
│
├── assets                    [Storage of robot URDF-related files]
│  
├── scripts
│
├── teleop
│   ├── image_server/         [Image Transfer Server and Client Code]
│   │     ├── image_client.py [Client (only used to test whether the image stream service is OK, not used for teleoperation)]
│   │     ├── image_server.py [Capture images from binocular cameras and send via network (performed on Unitree H1_2)]
│   │         
│   ├── robot_control/          [Storage of IK solver, arm and hand control related documents]
│   │      ├── robot_arm_ik.py  [Inverse kinematics of the arm]  
│   │      ├── robot_arm.py     [Control dual arm joints and lock the others]
│   │      ├── robot_hand.py    [Control hand joints]
│   │
│   │──teleop_hand_and_arm.py   [Startup execution code for teleoperation]
|   |——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: