Add Spectacles-2-Unitree sample

README.md

@@ -451,6 +451,31 @@ Extended Permissions mode on device must be enabled in some of the projects to a
   </tr>
 </table>
 
+## Community Samples
+
+<table>
+  <tr>
+    <td align="center" valign="top" width="33%" style="padding-top: 20px;" >
+      <a href="#">
+        <img src="./Spectacles-2-Unitree/README-ref/sample-list-unitree.gif" alt="spectacles-2-unitree" width="250px" />
+      </a>
+      <h3>Spectacles to Unitree Teleoperation</h3>
+      <p>
+      <a href="https://developers.snap.com/spectacles/about-spectacles-features/apis/gesture-module"><img src="https://img.shields.io/badge/Gesture%20Module-Light%20Gray?color=D3D3D3"/></a>
+      <a href="https://developers.snap.com/spectacles/about-spectacles-features/apis/web-socket"><img src="https://img.shields.io/badge/WebSocket-Light%20Gray?color=D3D3D3"/></a>
+      <a href="https://developers.snap.com/spectacles/spectacles-frameworks/spectacles-interaction-kit/features/overview"><img src="https://img.shields.io/badge/SIK-Light%20Gray?color=D3D3D3"/></a>
+      </p>
+      <p>Simulate or remote control a humanoid robot by copying your hand movements</p>
+    </td>
+ <td align="center" valign="top" width="33%" style="padding-top: 20px;" >
+
+  </td>
+ <td align="center" valign="top" width="33%">
+
+  </td>
+  </tr>
+</table>
+
 ## Support
 
 If you have any questions or need assistance, please don't hesitate to reach out. Our community is here to help, and you can connect with us and ask for support [here](https://www.reddit.com/r/Spectacles/). We look forward to hearing from you and are excited to assist you on your journey!

Spectacles-2-Unitree/.devcontainer/Dockerfile

@@ -0,0 +1,96 @@
+FROM ubuntu:noble AS dev
+
+LABEL org.opencontainers.image.description="Spectacles-2-Unitree dev container"
+
+ARG UV_VERSION=0.6.2
+
+ENV CYCLONEDDS_HOME=/usr/local \
+    DEBIAN_FRONTEND=noninteractive \
+    PATH="/opt/conda/bin:${PATH}"
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ca-certificates \
+    apt-transport-https \
+    curl \
+    gnupg \
+    # Needed for some Python dependencies that want the full non-headless version of OpenCV.
+    libgl1 \
+    libglib2.0-0 \
+    lsb-release \
+    python3.12 \
+    && apt-get clean && rm -rf /var/lib/apt/lists/*
+
+RUN . /etc/lsb-release \
+    # Git LFS
+    && curl -fsSL https://packagecloud.io/github/git-lfs/gpgkey \
+    | gpg --dearmor -o /etc/apt/keyrings/github_git-lfs-archive-keyring.gpg \
+    && curl -fsSL "https://packagecloud.io/install/repositories/github/git-lfs/config_file.list?os=${DISTRIB_ID}&dist=${DISTRIB_CODENAME}" > /etc/apt/sources.list.d/github_git-lfs.list \
+    # GitHub CLI
+    && curl -fsSL https://cli.github.com/packages/githubcli-archive-keyring.gpg -o /usr/share/keyrings/githubcli.gpg \
+    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/githubcli.gpg] https://cli.github.com/packages stable main" > /etc/apt/sources.list.d/github-cli.list \
+    # Docker
+    && curl -fsSL https://download.docker.com/linux/ubuntu/gpg -o /etc/apt/keyrings/docker.asc \
+    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/ubuntu $(. /etc/os-release && echo "$VERSION_CODENAME") stable" > /etc/apt/sources.list.d/docker.list
+
+# Additional dev packages
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    build-essential \
+    cmake \
+    docker-buildx-plugin \
+    docker-ce-cli \
+    gcc-aarch64-linux-gnu \
+    gh \
+    git \
+    git-lfs \
+    htop \
+    iputils-ping \
+    jq \
+    less \
+    linux-tools-common \
+    linux-tools-generic \
+    micro \
+    net-tools \
+    openssl \
+    pipx \
+    python3-pip \
+    ssh \
+    unzip \
+    && apt-get clean && rm -rf /var/lib/apt/lists/*
+
+# Install act
+RUN --mount=type=cache,target=/root/.cache/act \
+    curl --proto '=https' --tlsv1.2 -sSf https://raw.githubusercontent.com/nektos/act/master/install.sh | bash
+
+# Install uv
+RUN pipx ensurepath && pipx install "uv==$UV_VERSION"
+
+# Install conda
+RUN curl -fsSL https://github.com/conda-forge/miniforge/releases/download/25.3.0-1/Miniforge3-25.3.0-1-Linux-aarch64.sh -o /tmp/miniforge.sh \
+    && chmod +x /tmp/miniforge.sh \
+    && /tmp/miniforge.sh -b -p /opt/conda \
+    && rm /tmp/miniforge.sh
+
+# Build CycloneDDS
+RUN git clone https://github.com/eclipse-cyclonedds/cyclonedds /tmp/cyclonedds \
+    && cd /tmp/cyclonedds \
+    # The unitree-sdk2py depends on CycloneDDS 0.10.2
+    && git checkout 0.10.2 \
+    && mkdir build && cd build \
+    && cmake -DCMAKE_INSTALL_PREFIX=/usr/local .. \
+    && cmake --build . --target install \
+    && cd / && rm -rf /tmp/cyclonedds
+
+SHELL ["/bin/bash", "-c"]
+
+COPY unitree-client/environment.yml environment.yml
+
+RUN source /opt/conda/etc/profile.d/conda.sh \
+    && conda env create -f environment.yml \
+    && conda clean -afy
+
+RUN source /opt/conda/etc/profile.d/conda.sh \
+    && conda activate unitree-client \
+    && pip install --no-cache-dir \
+    meshcat@git+https://github.com/TastyDucks/meshcat-python.git \
+    unitree_sdk2py@git+https://github.com/TastyDucks/unitree_sdk2_python.git \
+    cyclonedds==0.10.2

Spectacles-2-Unitree/.devcontainer/devcontainer.json

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+// For format details, see https://aka.ms/devcontainer.json.
+{
+  "name": "Spectacles-2-Unitree dev",
+  "build": {
+    "dockerfile": "Dockerfile",
+    "context": "..",
+    "options": [
+      "--platform=linux/arm64"
+    ]
+  },
+  "mounts": [
+    {
+      "source": "/var/run/docker.sock",
+      "target": "/var/run/docker.sock",
+      "type": "bind"
+    }
+  ],
+  "runArgs": [
+    "--platform=linux/arm64"
+  ],
+  "forwardPorts": [
+    8080
+  ]
+}

Spectacles-2-Unitree/.gitattributes

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+# Shipped by Lens Studio
+*.esproj text linguist-language=yaml
+
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+
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+Assets/**/*.shoppingModule !filter !diff !merge text linguist-language=yaml merge=lens-studio-yaml-merge
+Assets/**/*.textInputModule !filter !diff !merge text linguist-language=yaml merge=lens-studio-yaml-merge
+Assets/**/*.textTexture !filter !diff !merge text linguist-language=yaml merge=lens-studio-yaml-merge
+Assets/**/*.textToSpeechModule !filter !diff !merge text linguist-language=yaml merge=lens-studio-yaml-merge
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+Assets/**/*.upperBodyTracking3D !filter !diff !merge text linguist-language=yaml merge=lens-studio-yaml-merge
+Assets/**/*.voiceMLModule !filter !diff !merge text linguist-language=yaml merge=lens-studio-yaml-merge
+Assets/**/*.worldQueryModule !filter !diff !merge text linguist-language=yaml merge=lens-studio-yaml-merge
+Assets/**/*.worldSettings !filter !diff !merge text linguist-language=yaml merge=lens-studio-yaml-merge
+Assets/**/*.worldUnderstandingModule !filter !diff !merge text linguist-language=yaml merge=lens-studio-yaml-merge
+Assets/**/*.worldmesh !filter !diff !merge text linguist-language=yaml merge=lens-studio-yaml-merge
+# Shipped by Lens Studio
+.png filter=lfs diff=lfs merge=lfs -text
+.jpg filter=lfs diff=lfs merge=lfs -text
+.gif filter=lfs diff=lfs merge=lfs -text
+
+# Unitree Client Meshes
+*.STL filter=lfs diff=lfs merge=lfs -text

Spectacles-2-Unitree/.github/workflows/build-and-push.yml

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+name: Build and Push Docker Images
+on:
+  push:
+  pull_request:
+  workflow_dispatch:
+permissions:
+  id-token: write
+  contents: read
+  packages: write
+env:
+  URL: ghcr.io/${{ github.repository }}
+jobs:
+  build-and-push:
+    permissions:
+      id-token: write
+      contents: read
+      packages: write
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        container:
+          - context: .
+            file: .devcontainer/Dockerfile
+            name: dev
+            platforms: linux/arm64
+          - context: unitree-client
+            file: unitree-client/Dockerfile
+            name: client
+            target: runtime
+            platforms: linux/arm64
+          - context: coordination-server
+            file: coordination-server/Dockerfile
+            name: server
+            platforms: linux/amd64
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v3
+        with:
+          lfs: true
+      - run: git lfs pull
+      - name: Log in to GitHub Container Registry
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+      - name: Docker meta
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: ${{ env.URL }}.${{ matrix.container.name}}
+          flavor: |
+            latest=true
+          tags: |
+            type=ref,event=branch
+            type=ref,event=pr
+            type=ref,event=tag
+            type=sha
+      - name: QEMU
+        uses: docker/setup-qemu-action@v3
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+        with:
+          version: latest
+          driver-opts: image=moby/buildkit:latest
+      - name: Build and Push
+        uses: docker/build-push-action@v6
+        with:
+          context: ${{ matrix.container.context }}
+          file: ${{ matrix.container.file }}
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          platforms: ${{ matrix.container.platforms }}
+          target: ${{  matrix.container.target }}
+          push: true
+          pull: true
+          cache-from: |
+            type=gha,scope=${{ matrix.container.name }}
+            type=registry,ref=${{ env.URL }}.${{ matrix.container.name }}:cache
+          cache-to: type=gha,mode=max,scope=${{ matrix.container.name }}

Spectacles-2-Unitree/.gitignore

@@ -0,0 +1,16 @@
+# Shipped by Lens Studio
+Cache/**
+PluginsUserPreferences/**
+Support/**
+BackUp/**
+Workspaces/**
+.vscode/**
+jsconfig.json
+tsconfig.json
+.DS_Store
+*.lock
+# Shipped by Lens Studio
+# Python
+.venv
+*.egg-info
+__pycache__

Spectacles-2-Unitree/ATTRIBUTION.md

@@ -0,0 +1,23 @@
+# Third Party License Information
+
+- This project uses Python source, STL, and URDF files from [Unitree](https://github.com/unitreerobotics/avp_teleoperate/blob/main/LICENSE), originally licensed under the Apache 2.0 License:
+  - [unitree-client/src/ik/urdf/](./unitree-client/src/ik/urdf/)
+  - [unitree-client/src/ik/utils/](./unitree-client/src/ik/utils/)
+  - [unitree-client/src/ik/g1_controller.py](./unitree-client/src/ik/g1_controller.py)
+  - [unitree-client/src/ik/g1_solver.py](./unitree-client/src/ik/g1_solver.py), modifications licensed under the [MIT License](./LICENSE).
+- Python dependencies are not included in the source code, and are gathered as part of the build process for the Docker images via PyPi and conda-forge:
+  - [aiohttp](https://github.com/aio-libs/aiohttp/blob/master/LICENSE.txt) (Apache 2.0 License)
+  - [aiohttp-jinja2](https://github.com/aio-libs/aiohttp-jinja2/blob/master/LICENSE) (Apache 2.0 License)
+  - [asyncio](https://github.com/python/cpython/blob/main/LICENSE) (Python Software Foundation License) - Part of Python Standard Library
+  - [casadi](https://github.com/casadi/casadi/blob/develop/LICENSE.txt) (LGPL v3)
+  - [ipython](https://github.com/ipython/ipython/blob/main/LICENSE) (BSD 3-Clause License)
+  - [jinja2](https://github.com/pallets/jinja/blob/main/LICENSE.txt) (BSD 3-Clause License)
+  - [mujoco](https://github.com/google-deepmind/mujoco/blob/main/LICENSE) (Apache 2.0 License)
+  - [numpy](https://github.com/numpy/numpy/blob/main/LICENSE.txt) (BSD 3-Clause License)
+  - [opencv-contrib-python-headless](https://github.com/opencv/opencv-python/blob/master/LICENSE.txt) (MIT)
+  - [pillow](https://github.com/python-pillow/Pillow/blob/main/LICENSE) (MIT-CMU License)
+  - [pinocchio](https://github.com/stack-of-tasks/pinocchio/blob/master/LICENSE) (BSD 2-Clause License)
+  - [pip](https://github.com/pypa/pip/blob/main/LICENSE.txt) (MIT License)
+  - [pyzmq](https://github.com/zeromq/pyzmq/blob/main/LICENSE.md) (BSD 3-Clause License)
+  - [scipy](https://github.com/scipy/scipy/blob/main/LICENSE.txt) (BSD 3-Clause License)
+  - [websockets](https://github.com/aaugustin/websockets/blob/main/LICENSE) (BSD 3-Clause License)