BunnyVisionPro

所谓理解，通常不过是误解的总合。——村上春树《斯普特尼克恋人》

这个项目允许使用VisionPro控制机器人手臂

github:

https://github.com/Dingry/BunnyVisionPro

文档：

https://dingry.github.io/BunnyVisionPro/getstarted/install/

Github-Id-VampireAchao:visionpro-robot achao$ curl https://registry-1.docker.io/v2/
curl: (35) Recv failure: Connection reset by peer
Github-Id-VampireAchao:visionpro-robot achao$ export https_proxy=http://127.0.0.1:7890 http_proxy=http://127.0.0.1:7890 all_proxy=socks5://127.0.0.1:7890
Github-Id-VampireAchao:visionpro-robot achao$ docker pull yzqin/bunny_teleop_server
Using default tag: latest
latest: Pulling from yzqin/bunny_teleop_server
4a023cab5400: Pull complete 
43241eb05ebc: Pull complete 
ed0112329020: Pull complete 
e4421d97df03: Pull complete 
7f513a41943a: Pull complete 
1879d69635a4: Pull complete 
ddb6f24d072d: Pull complete 
a8bf28d34f50: Pull complete 
72ce4e76da80: Pull complete 
6504ec221244: Pull complete 
1fe5a8233a9a: Pull complete 
b0848f73b4a7: Pull complete 
efd1b05a29b9: Pull complete 
9bc7e37b05a6: Pull complete 
9ebb0f94d184: Pull complete 
3b4245af369b: Pull complete 
34199ef09452: Pull complete 
947ddafaf94d: Pull complete 
Digest: sha256:3feb1331a1af7bf6fb16be7bd1d292e690ee69950a64d858f62ff5e69c9e6cf5
Status: Downloaded newer image for yzqin/bunny_teleop_server:latest
docker.io/yzqin/bunny_teleop_server:latest

What's next:
    View a summary of image vulnerabilities and recommendations → docker scout quickview yzqin/bunny_teleop_server
Github-Id-VampireAchao:visionpro-robot achao$ docker run -it --net host --name bunny_teleop_server yzqin/bunny_teleop_server bash
WARNING: The requested image's platform (linux/amd64) does not match the detected host platform (linux/arm64/v8) and no specific platform was requested
root@docker-desktop:/server# 

然后需要打开VisionPro的 Tracking Streamer查看ip

配置到vim /server/bunny_teleop_server/configs/camera_config/visionpro_config.yml：

cameras:
  - visionpro:
      avp_ip: 192.168.1.10

启动视觉服务节点：

run_vision_server -c /server/bunny_teleop_server/configs/camera_config/visionpro_config.yml

启动遥控机器人节点：

run_robot_server -c /server/bunny_teleop_server/configs/camera_config/visionpro_config.yml -k /server/bunny_teleop_server/configs/kinematics_config/bimanual_xarm7_ability.yml -comm /server/bunny_teleop_server/configs/communication_config/sim_web_visualizer.yml

浏览器访问 http://127.0.0.1:7000/static/

可以看到对应的界面

启动最小 Teleop 客户端

git clone https://github.com/Dingry/BunnyVisionPro
cd BunnyVisionPro
python examples/minimal/minimal.py