upload real-robot deployment code

unitree_deploy/README.md

@@ -0,0 +1,207 @@
+# Unitree Deploy 
+
+This document provides instructions for setting up the deployment environment for Unitree G1 (with gripper) and Z1 platforms, including dependency installation, image service startup, and gripper control.
+
+# 0. 📖 Introduction
+
+This repository is used for model deployment with Unitree robots.
+
+---
+
+# 1. 🛠️ Environment Setup 
+
+```bash
+conda create -n unitree_deploy python=3.10 && conda activate unitree_deploy
+
+conda install pinocchio -c conda-forge
+pip install -e .
+
+# Optional: Install lerobot dependencies
+pip install -e ".[lerobot]"
+
+git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
+cd unitree_sdk2_python  && pip install -e . && cd ..
+```
+
+---
+# 2. 🚀 Start 
+
+**Tip: Keep all devices on the same LAN**
+
+## 2.1 🤖 Run G1 with Dex_1 Gripper 
+
+### 2.1.1 📷 Image Capture Service Setup (G1 Board) 
+
+[To open the image_server, follow these steps](https://github.com/unitreerobotics/xr_teleoperate?tab=readme-ov-file#31-%EF%B8%8F-image-service)
+1. Connect to the G1 board:
+    ```bash
+    ssh unitree@192.168.123.164  # Password: 123
+    ```
+
+2. Activate the environment and start the image server:
+    ```bash
+    conda activate tv
+    cd ~/image_server
+    python image_server.py
+    ```
+
+---
+
+### 2.1.2 🤏 Dex_1 Gripper Service Setup (Development PC2)
+
+Refer to the [Dex_1 Gripper Installation Guide](https://github.com/unitreerobotics/dex1_1_service?tab=readme-ov-file#1--installation) for detailed setup instructions.
+
+1. Navigate to the service directory:
+    ```bash
+    cd ~/dex1_1_service/build
+    ```
+
+2. Start the gripper service, **ifconfig examines its own dds networkInterface**:
+    ```bash
+    sudo ./dex1_1_gripper_server --network eth0 -l -r
+    ```
+
+3. Verify communication with the gripper service:
+    ```bash
+    ./test_dex1_1_gripper_server --network eth0 -l -r
+    ```
+
+---
+
+### 2.1.2 ✅Testing 
+
+Perform the following tests to ensure proper functionality:
+
+- **Dex1 Gripper Test**:
+  ```bash
+  python test/endeffector/test_dex1.py
+  ```
+
+- **G1 Arm Test**:
+  ```bash
+  python test/arm/g1/test_g1_arm.py
+  ```
+
+- **Image Client Camera Test**:
+  ```bash
+  python test/camera/test_image_client_camera.py
+  ```
+
+- **G1 Datasets Replay**:
+  ```bash
+  python test/test_replay.py --repo-id unitreerobotics/G1_CameraPackaging_NewDataset --robot_type g1_dex1
+  ```
+---
+
+## 2.2 🦿 Run Z1 
+
+### 2.2.1 🦿 Z1 Setup
+Clone and build the required repositories:
+
+1. Download [z1_controller](https://github.com/unitreerobotics/z1_controller.git) and [z1_sdk](https://github.com/unitreerobotics/z1_sdk.git).
+
+2. Build the repositories:
+    ```bash
+    mkdir build && cd build
+    cmake .. && make -j
+    ```
+
+3. Copy the `unitree_arm_interface` library: [Modify according to your own path]
+    ```bash
+    cp z1_sdk/lib/unitree_arm_interface.cpython-310-x86_64-linux-gnu.so ./unitree_deploy/robot_devices/arm
+    ```
+
+4. Start the Z1 controller [Modify according to your own path]:
+    ```bash
+    cd z1_controller/build
+    ./z1_ctrl
+    ```
+
+---
+
+### 2.2.2 Testing ✅
+
+Run the following tests:
+
+- **Realsense Camera Test**:
+  ```bash
+  python test/camera/test_realsense_camera.py # Modify the corresponding serial number according to your realsense
+  ```
+
+- **Z1 Arm Test**:
+  ```bash
+  python test/arm/z1/test_z1_arm.py
+  ```
+
+- **Z1 Environment Test**:
+  ```bash
+  python test/arm/z1/test_z1_env.py
+  ```
+
+- **Z1 Datasets Replay**:
+  ```bash
+  python test/test_replay.py --repo-id unitreerobotics/Z1_StackBox_Dataset --robot_type z1_realsense
+  ```
+---
+
+## 2.3 🦿 Run Z1_Dual
+
+### 2.3.1 🦿 Z1 Setup and Dex1 Setup
+Clone and build the required repositories:
+
+1. Download and compile the corresponding code according to the above z1 steps and Download the gripper program to start locally
+
+2. [Modify the multi-machine control according to the document](https://support.unitree.com/home/zh/Z1_developer/sdk_operation)
+
+3. [Download the modified z1_sdk_1 and then compile it](https://github.com/unitreerobotics/z1_sdk/tree/z1_dual), Copy the `unitree_arm_interface` library: [Modify according to your own path]
+    ```bash
+    cp z1_sdk/lib/unitree_arm_interface.cpython-310-x86_64-linux-gnu.so ./unitree_deploy/robot_devices/arm
+    ```
+
+4. Start the Z1 controller [Modify according to your own path]:
+    ```bash
+    cd z1_controller/builb && ./z1_ctrl
+    cd z1_controller_1/builb && ./z1_ctrl
+    ```
+5. Start the gripper service, **ifconfig examines its own dds networkInterface**:
+    ```
+    sudo ./dex1_1_gripper_server --network eth0 -l -r
+    ```
+---
+
+### 2.3.2 Testing ✅
+
+Run the following tests:
+
+- **Z1_Dual Arm Test**:
+  ```bash
+  python test/arm/z1/test_z1_arm_dual.py
+  ```
+
+- **Z1_Dual Datasets Replay**:
+  ```bash
+  python test/test_replay.py --repo-id unitreerobotics/Z1_Dual_Dex1_StackBox_Dataset_V2 --robot_type z1_dual_dex1_realsense
+  ```
+---
+
+
+# 3.🧠 Inference and Deploy
+1. [Modify the corresponding parameters according to your configuration](./unitree_deploy/robot/robot_configs.py)
+2. Go back the **step-2 of Client Setup** under the [Inference and Deployment under Decision-Making Mode](https://github.com/unitreerobotics/unitree-world-model/blob/main/README.md).
+
+# 4.🏗️ Code structure
+
+[If you want to add your own robot equipment, you can build it according to this document](./docs/GettingStarted.md)
+
+
+# 5. 🤔 Troubleshooting
+
+For assistance, contact the project maintainer or refer to the respective GitHub repository documentation. 📖
+
+
+# 6. 🙏 Acknowledgement
+
+This code builds upon following open-source code-bases. Please visit the URLs to see the respective LICENSES (If you find these projects valuable, it would be greatly appreciated if you could give them a star rating.):
+
+1. https://github.com/huggingface/lerobot
+2. https://github.com/unitreerobotics/unitree_sdk2_python