robodriver-robot-unitree-g1-sdk-py

robodriver-robot-unitree-g1-sdk-py

1. Get Start / 快速开始

1.1 Clone the repository / 克隆仓库

git clone --recurse-submodules https://github.com/wangqi951002/robodriver-plugin.git
cd robodriver-plugin/robodriver-robot-unitree-g1-sdk-py

1.2 Install the project to RoboDriver / 安装到 RoboDriver 环境

Make sure you are in the robodriver conda env.
确保你已经进入 robodriver 的 conda 环境：

conda activate robodriver
pip install -e .

2. Start Collecting / 开始采集数据

2.1 Activate environment / 激活环境

conda activate robodriver

2.2 Prepare unitree-sdk2py environment / 准备 unitree-sdk2py 环境

https://github.com/unitreerobotics/unitree_sdk2_python 

在unitree-sdk2py 环境运行sdk_to_zmq.py

python sdk_to_zmq.py

2.4 Launch RoboXStudio / 启动 RoboXStudio

In your RoboDriver project directory:
在你的 RoboDriver 工程目录中：

cd /path/to/your/RoboDriver
python -m robodriver.scripts.run --robot.type=unitree_g1_sdk_py

3. Notes / 注意事项

• 运行sdk_to_zmq.py前，需要将机器人搭载的 realsense D435i相机视频流自行转成ws流，也可以修改sdk_to_zmq.py，选择其他视频流接入方式。