add r1 robot project

2026-08-28 10:10:18 +02:00
parent 27aea1146d
commit 8d88495f6f
82 changed files with 22935 additions and 0 deletions
@@ -0,0 +1,183 @@
+cmake_minimum_required(VERSION 3.16)
+
+project(r1_vision LANGUAGES CXX)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+option(BUILD_VISION "Build vision components" ON)
+option(BUILD_VOICE "Build R1 voice assistant" ON)
+
+set(UNITREE_SDK2_DIR
+    "/home/jvizner/unitree_sdk2"
+    CACHE PATH "Path to unitree_sdk2"
+)
+
+# ============================================================
+# Unitree SDK2
+# ============================================================
+
+if(BUILD_VISION OR BUILD_VOICE)
+
+    if(NOT EXISTS "${UNITREE_SDK2_DIR}/CMakeLists.txt")
+        message(FATAL_ERROR
+            "Invalid UNITREE_SDK2_DIR: ${UNITREE_SDK2_DIR}"
+        )
+    endif()
+
+    add_subdirectory(
+        "${UNITREE_SDK2_DIR}"
+        "${CMAKE_BINARY_DIR}/unitree_sdk2"
+        EXCLUDE_FROM_ALL
+    )
+
+endif()
+
+# ============================================================
+# Vision
+# ============================================================
+
+if(BUILD_VISION)
+
+    find_package(Eigen3 REQUIRED)
+
+    find_package(OpenCV REQUIRED COMPONENTS
+        core
+        imgproc
+        highgui
+        imgcodecs
+    )
+
+    find_package(pinocchio REQUIRED)
+
+    add_library(r1_vision_common INTERFACE)
+
+    target_include_directories(
+        r1_vision_common
+        INTERFACE
+            "${CMAKE_CURRENT_SOURCE_DIR}/include"
+            "${UNITREE_SDK2_DIR}/include"
+    )
+
+    target_link_libraries(
+        r1_vision_common
+        INTERFACE
+            Eigen3::Eigen
+            pinocchio::pinocchio
+            ${OpenCV_LIBS}
+            unitree_sdk2
+    )
+
+    target_compile_definitions(
+        r1_vision_common
+        INTERFACE
+            UNITREE_SDK2_DIR="${UNITREE_SDK2_DIR}"
+    )
+
+    add_executable(
+        vision_node
+        src/vision_node.cc
+    )
+
+    target_link_libraries(
+        vision_node
+        PRIVATE
+            r1_vision_common
+    )
+
+    add_executable(
+        r1_hand_calibrate
+        src/r1_hand_calibrate.cc
+    )
+
+    target_link_libraries(
+        r1_hand_calibrate
+        PRIVATE
+            r1_vision_common
+    )
+
+endif()
+
+# ============================================================
+# Voice
+# ============================================================
+
+if(BUILD_VOICE)
+
+    find_package(CURL REQUIRED)
+
+    add_executable(
+        r1_voice
+
+        src/voice_node.cc
+        src/stt.cc
+        src/llm.cc
+        src/tts.cc
+        src/conversation.cc
+    )
+
+    add_executable(
+    r1_mic_test
+    src/r1_mic_test.cc
+)
+
+target_include_directories(
+    r1_mic_test
+    PRIVATE
+        "${UNITREE_SDK2_DIR}/include"
+)
+
+    target_include_directories(
+        r1_voice
+        PRIVATE
+            "${CMAKE_CURRENT_SOURCE_DIR}/include"
+            "${UNITREE_SDK2_DIR}/include"
+    )
+
+    target_link_libraries(
+        r1_voice
+        PRIVATE
+            unitree_sdk2
+            CURL::libcurl
+    )
+
+endif()
+
+# ============================================================
+# Install
+# ============================================================
+
+set(INSTALL_TARGETS "")
+
+if(BUILD_VISION)
+    list(APPEND INSTALL_TARGETS
+        vision_node
+        r1_hand_calibrate
+    )
+endif()
+
+if(BUILD_VOICE)
+    list(APPEND INSTALL_TARGETS
+        r1_voice
+    )
+endif()
+
+install(
+    TARGETS ${INSTALL_TARGETS}
+    RUNTIME DESTINATION bin
+)
+
+if(BUILD_VISION)
+
+    install(
+        DIRECTORY config/
+        DESTINATION share/r1_vision/config
+    )
+
+    install(
+        PROGRAMS scripts/yolo_detector.py
+        DESTINATION share/r1_vision/scripts
+    )
+
+endif()