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yuchen-x f12b478265 upload real-robot deployment code

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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

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

Connect to the G1 board:

ssh unitree@192.168.123.164  # Password: 123

Activate the environment and start the image server:

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 for detailed setup instructions.

Navigate to the service directory:
```
cd ~/dex1_1_service/build
```
Start the gripper service, ifconfig examines its own dds networkInterface:
```
sudo ./dex1_1_gripper_server --network eth0 -l -r
```

Verify communication with the gripper service:

./test_dex1_1_gripper_server --network eth0 -l -r

2.1.2 ✅Testing

Perform the following tests to ensure proper functionality:

Dex1 Gripper Test:
```
python test/endeffector/test_dex1.py
```
G1 Arm Test:
```
python test/arm/g1/test_g1_arm.py
```

Image Client Camera Test:

python test/camera/test_image_client_camera.py

G1 Datasets Replay:

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:

Download z1_controller and z1_sdk.

Build the repositories:

mkdir build && cd build
cmake .. && make -j

Copy the unitree_arm_interface library: [Modify according to your own path]

cp z1_sdk/lib/unitree_arm_interface.cpython-310-x86_64-linux-gnu.so ./unitree_deploy/robot_devices/arm

Start the Z1 controller [Modify according to your own path]:
```
cd z1_controller/build
./z1_ctrl
```

2.2.2 Testing ✅

Run the following tests:

Realsense Camera Test:

python test/camera/test_realsense_camera.py # Modify the corresponding serial number according to your realsense

Z1 Arm Test:
```
python test/arm/z1/test_z1_arm.py
```
Z1 Environment Test:
```
python test/arm/z1/test_z1_env.py
```

Z1 Datasets Replay:

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:

Download and compile the corresponding code according to the above z1 steps and Download the gripper program to start locally
Modify the multi-machine control according to the document
Download the modified z1_sdk_1 and then compile it, Copy the unitree_arm_interface library: [Modify according to your own path]
```
cp z1_sdk/lib/unitree_arm_interface.cpython-310-x86_64-linux-gnu.so ./unitree_deploy/robot_devices/arm
```

Start the Z1 controller [Modify according to your own path]:

cd z1_controller/builb && ./z1_ctrl
cd z1_controller_1/builb && ./z1_ctrl

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:
```
python test/arm/z1/test_z1_arm_dual.py
```

Z1_Dual Datasets Replay:

python test/test_replay.py --repo-id unitreerobotics/Z1_Dual_Dex1_StackBox_Dataset_V2 --robot_type z1_dual_dex1_realsense

3.🧠 Inference and Deploy

Modify the corresponding parameters according to your configuration
Go back the step-2 of Client Setup under the Inference and Deployment under Decision-Making Mode.

4.🏗️ Code structure

If you want to add your own robot equipment, you can build it according to this document

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.):

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