Robot Platform

"Head moves, view moves" — Immersive remote vision for humanoid robots.

A robotics platform integrating head-tracking active vision, 3D-printable gimbal mounts, and robot simulation models (URDF/SDF). Built around a PICO 4 headset driving a dual-axis STS3032 servo gimbal with an Intel RealSense D415 camera, enabling real-time first-person telepresence.

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Overview

Module	Description
active_vision_dist/	Active Vision software: head tracking → gimbal control → camera streaming
3d_print_parts/	3D-printable mechanical parts for the 2-DOF gimbal assembly
updf_Robotic/	Robot URDF/SDF models for simulation (MuJoCo, Gazebo, ROS)

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Active Vision System

Real-time immersive remote vision via head-tracking:

PICO 4 headset (50 Hz quaternions)
  → WiFi → PC
  → PD controller → STS3032 dual-axis gimbal
  → D415 camera follows
  → Video streamed back to headset

Hardware

Component	Model	Notes
VR Headset	PICO 4	WiFi link to PC, runs PicoBridge APK
Servos (×2)	FeiTech STS3032 12V	ID1=Yaw, ID2=Pitch
Serial adapter	URT-1 / URT-2	USB-to-TTL
Camera	Intel RealSense D415	USB 3.0, gimbal-mounted
PC	Windows / Linux	WiFi + USB ports

Quick Start

conda create -n active_vision python=3.10 -y
conda activate active_vision
pip install -r active_vision_dist/requirements.txt

# Windows
cd active_vision_dist/windows
python run.py

# Linux
cd active_vision_dist/linux
python run.py

First-time hardware setup requires calibration:

python run.py --calibrate    # servo limits + center alignment
python run.py --tune-servo   # PID tuning (one-time)

For full documentation, see active_vision_dist/README.md and active_vision_dist/README_CN.md.

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3D Printable Parts

Mechanical assembly for the 2-DOF active vision gimbal, designed to mount on humanoid robots (e.g., Unitree G1).

Part	Description
Active_Vision_platform_001/	3-part gimbal assembly (base, connector, camera bracket) with BOM
unitree_l6_joint/	Unitree L6 joint adapter for robot arm integration

Assembly instructions and interactive 3D BOM: see 3d_print_parts/Active_Vision_platform_001/安装说明.md.

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Robot Simulation Models (URDF/SDF)

Pre-built URDF/SDF models for simulation in MuJoCo, Gazebo, and ROS:

Model	Contents
Active_Vision_Platform_001	2-DOF gimbal with D415 camera (URDF, SDF, MuJoCo XML)
G1_O6_combined_001	Unitree G1 humanoid + O6 dual-arm manipulator combined model
unitree_l6_link_001	Unitree L6 robot arm link model

Each model includes meshes (STL/OBJ), launch files, and configuration YAML.

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Repository Structure

robot_platform/
├── active_vision_dist/          # Active Vision software
│   ├── windows/                 # Windows entry point
│   ├── linux/                   # Linux entry point
│   ├── scservo_sdk/             # FeiTech servo SDK
│   ├── autotune.py              # Auto PID tuning tool
│   ├── requirements.txt
│   ├── README.md / README_CN.md
│   └── TECHNICAL_REFERENCE.md / TECHNICAL_REFERENCE_CN.md
├── 3d_print_parts/              # Gimbal mechanical design
│   ├── Active_Vision_platform_001/
│   └── unitree_l6_joint/
└── updf_Robotic/                # Simulation models
    ├── Active_Vision_Platform_001/
    ├── G1_O6_combined_001/
    └── unitree_l6_link_001/

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License

This project is for academic research use. See individual subdirectories for details.