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Installation for Teleoperation on Humanoid Robot

Install realsense driver for L515. https://github.com/IntelRealSense/librealsense/releases/tag/v2.54.2

Teleop with Vision Pro. to use vision pro teleop, first, install our app on vision pro. then install the following packages:

# I assume you have not installed iDP3 env. You could install the teleop code first, and then install iDP3.
conda remove -n idp3 --all
conda create -n idp3 python=3.11
conda activate idp3

pip install avp_stream sapien==3.0.b0 tyro anytree trimesh pytransform3d nlopt
pip install cmeel-urdfdom==3.1.1.1 pin==2.7.0
cd teleop-real && pip install -e . && cd ..
pip install pyrealsense2==2.54.2.5684
pip install quaternionic tqdm 
pip install vuer==0.0.32rc7

cd  teleop-zenoh
cd libs
pip install robot_rcs-0.4.0.7-cp311-cp311-manylinux_2_30_x86_64.whl
pip install robot_rcs_gr-1.9.1.4-cp311-cp311-manylinux_2_30_x86_64.whl

sudo apt-get update -y
# libtinyxml.so.2.6.2
sudo apt install libtinyxml2.6.2v5
#  libtinyxml2.so.6
sudo apt-get install -y libtinyxml2-6
sudo apt install libconsole-bridge0.4

pip install rerun-sdk termcolor h5py flask plotly

Setup Local Vision Stream

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.

  1. install mkcert: https://github.com/FiloSottile/mkcert
sudo apt install libnss3-tools
curl -JLO "https://dl.filippo.io/mkcert/latest?for=linux/amd64"
chmod +x mkcert-v*-linux-amd64
sudo cp mkcert-v*-linux-amd64 /usr/local/bin/mkcert
  1. check local ip address:
ifconfig | grep inet

Suppose the local ip address of the ubuntu machine is 192.168.31.157.

  1. create certificate:
mkcert -install && mkcert -cert-file cert.pem -key-file key.pem 192.168.31.157 localhost 127.0.0.1
  1. open firewall on server
sudo iptables -A INPUT -p tcp --dport 8012 -j ACCEPT
sudo iptables-save
sudo iptables -L

or can be done with ufw:

sudo ufw allow 8012

self.app = Vuer(host='0.0.0.0', cert="./cert.pem", key="./key.pem")
  1. 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

  1. open the browser on Safari on VisionPro and go to https://192.168.31.157:8012?ws=wss://192.168.31.157:8012

  2. Click Enter VR and Allow to start the VR session.

Connect Vision Pro and Your Mac for develop

What steps did you take to get the device working in Xcode. The following steps should get you started:

Vision Pro

Navigate to Settings > General > Remote Devices and remove any computer listed.

Xcode

Navigate to Window > Devices and Simulators.
Find the Vision Pro in list on the left hand side of this window.
Select it and hit pair.

Note: Remember to turn off the VPN on your mac and make AVP and your mac in the same network.

Error Catching

GLIBC_2.33 not found:

[solution](https://blog.csdn.net/huazhang_001/article/details/128828999)

AttributeError: type object 'Callable' has no attribute '_abc_registry':

pip uninstall typing