This repository provides a framework for teleoperating Unitree humanoid robots using XR devices like Apple Vision Pro, PICO 4 Ultra Enterprise, and Meta Quest 3. It enables remote control of robot arms and dexterous hands, targeting researchers and developers working with advanced robotics and immersive interfaces.

How It Works

The system leverages a client-server architecture. An image server runs on the robot's onboard computer, capturing camera feeds and transmitting them over the network. The XR device client (e.g., Apple Vision Pro via Safari) connects to this server, displaying the robot's perspective and sending control commands. Inverse kinematics are used for precise arm control, and specific libraries handle communication with Unitree's SDK and dexterous hand interfaces.

Quick Start & Requirements

• Installation: Clone the repository and install dependencies using pip install -r requirements.txt.
• Prerequisites: Ubuntu 20.04/22.04, Python 3.8, pinocchio (version 3.1.0), meshcat, casadi, and unitree_sdk2_python. For Apple Vision Pro, self-signed certificates are required for local HTTPS connections.
• Setup: Requires configuring network settings, potentially installing XR device-specific software, and running the image server on the robot's PC.
• Documentation: Official Documentation

Highlighted Details

• Supports multiple Unitree robot models (G1, H1, H1_2) and dexterous hands (Dex3-1, Inspire).
• Enables teleoperation via Apple Vision Pro, PICO 4 Ultra Enterprise, and Meta Quest 3.
• Includes optional data recording for imitation learning.
• Provides hardware recommendations and assembly diagrams for camera setups.

Maintenance & Community

The project is maintained by Unitree Robotics. Links to community resources are not explicitly provided in the README.

Licensing & Compatibility

The repository acknowledges dependencies on various open-source projects with their respective licenses. The primary license for this repository is not explicitly stated, but the use of Unitree's SDK implies compatibility with their ecosystem.

Limitations & Caveats

The setup for XR devices, particularly Apple Vision Pro, involves complex certificate management and browser feature enablement. The README notes that some XR device configurations might require referring to specific issues for detailed steps. Data recording requires significant disk space.