updates

Author: Ziwei Chang

FAQ.md

@@ -1,7 +1,7 @@
 # FAQ
 
 
-## 1. 配置自定义网络后，无法连接网络
+## 1. 配置自定义网络后，可能无法连接网络
 
 ```sh
 # 移除默认路由

README.md

@@ -6,34 +6,35 @@
 
 ## 代码库说明
 
-### 最新版本
+#### 最新版本
 
-- 更新：2025.09.03 修复了做第一个动作时立即deactivate手臂异常运动的问题
+更新 2025.09.03 : 修复了做第一个动作时立即deactivate手臂异常运动的问题
 
-### brainco_ws
+#### brainco_ws
 
 G1手臂IK计算基于宇树官方示例[Unitree/xr_teleoperate](https://github.com/unitreerobotics/xr_teleoperate/blob/main/teleop/robot_control/robot_arm_ik.py)。双臂双手控制基于ROS2。
 - Main control [smach_action.py](./brainco_ws/src/control_py/control_py/smach_action.py)
 - State machine transition client [keyboard_call.py](./brainco_ws/src/control_py/control_py/keyboard_call.py)
 
 
-### ros2_stark_ws
+#### ros2_stark_ws
 
 本例中使用的灵巧手SDK与[原版SDK](https://github.com/BrainCoTech/stark-serialport-example/tree/revo2/ros2_stark_ws)区别: 
 强脑灵巧手与宇树G1通过**双485**串口通信，即单ROS节点中左右手分别通过`/dev/ttyUSB0`和`/dev/ttyUSB1`串口同时传输信息。
 - Brainco hands [stark_node.cpp](./ros2_stark_ws/src/ros2_stark_controller/src/stark_node.cpp)
 
 
+
 ## 灵巧手适配教程
 
 视频演示(待添加)
 
-### 机器人启动
+#### 机器人启动
 1. 宇树G1开机，具体可参照[宇树文档中心|操作指南](https://support.unitree.com/home/zh/G1_developer/quick_start)。接电时，灵巧手手背指示灯亮起，手指自动复位。
 2. 等待（约1分钟）宇树G1进入**零力矩模式**，具体表现为随意活动关节无阻力。
 3. 使用遥控器，按照说明按下对应按钮，使机器人依次进入**阻尼模式** → **锁定站立模式**。(注意：手臂开发**不进入**运动模式)
 
-### 远程连接
+#### 远程连接
 参考[宇树文档中心|快速开发](https://support.unitree.com/home/zh/G1_developer/quick_development)。
 1. 首次连接使用网线连接G1和计算机，将计算机以太网IP设置为与宇树G1同网段 `192.168.123.XXX`,如：
 ```
@@ -79,7 +80,7 @@ sudo nmcli connection down <SSID> && sudo nmcli connection up <SSID>
 ```
 
 
-### 安装环境依赖
+#### 安装环境依赖
 1. 安装Miniconda。进入[Miniconda官网](https://www.anaconda.com/docs/getting-started/miniconda/main)，选择系统：`Linux`，选择系统架构`ARM64`，按照官方提供的命令安装。
 2. 创建conda环境，环境名为g1brainco，使用python3.8
 ```sh
@@ -101,7 +102,7 @@ pip install empy==3.3.2
 pip install lark-parser
 ```
 
-### 安装宇树ROS
+#### 安装宇树ROS
 1. 参考[宇树文档中心|ROS2通信例程](https://support.unitree.com/home/zh/G1_developer/ros2_communication_routine)，安装并编译`unitree_ros2`
 
 2. 打开`~/unitree_ros2/setup.sh`，修改`"enp3s0"`为`"eth0"`
@@ -111,7 +112,7 @@ export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces>
                         </Interfaces></General></Domain></CycloneDDS>'
 ```
 
-### 安装强脑灵巧手SDK
+#### 安装强脑灵巧手SDK
 1. 下载本仓库到G1
 - 方法1：
 ```sh
@@ -131,13 +132,13 @@ chmod +x ./launch/launch_trans.sh
 chmod +x ./launch/launch_robot.sh
 ```
 
-### 配置灵巧手
+#### 配置灵巧手
 打开`ros2_stark_ws/src/ros2_stark_controller/config/params_v2_double.yaml`，根据灵巧手配置修改参数，通常使用默认参数。  
 - `port_l, port_r`: 左右手串口，分别对应USB-485板的`485_A, 485_B`信号端口
 - `baudrate`: 波特率
 - `slave_id_l, slave_id_r`: 左手默认`0x7e`右手默认`0x7f`。
 
-### 编译
+#### 编译
 
 ```sh
 # 激活 conda 环境
@@ -155,7 +156,7 @@ python -m colcon build
 
 同时开启两个终端
 
-### 终端1: 启动主控制节点和灵巧手节点
+#### 终端1: 启动主控制节点和灵巧手节点
 ```sh
 conda activate g1brainco                    # 激活conda环境
 cd ~/unitree-g1-brainco-hand/brainco_ws     # 进入工作空间      
@@ -172,18 +173,19 @@ cd ~/unitree-g1-brainco-hand/brainco_ws     # 进入工作空间
 - 当显示 `"Request 'configure' to start"` 则可以发送状态转换请求
 
 
-### 终端2: 启动状态转换 client 节点
+#### 终端2: 启动状态转换 client 节点
 ```sh
 conda activate g1brainco                    # 激活conda环境
 cd ~/unitree-g1-brainco-hand/brainco_ws     # 进入工作空间      
 ./launch/launch_trans.sh                    # 运行 launch 文件
 ```
 
-### 请求状态切换
+#### 请求状态切换
 **终端2**会提示当前状态、可使用的转换和对应的动作。输入`字符(串) + 回车`转换状态。进入`active`状态后，在字母后加`l`或`r`单独控制左/右手，不加则默认双手。
 <p align="center">
   <img src="brainco_ws/figs/ros2_statemachine.png" alt="statemachine" width="600"/>
 </p>
 
+
 ## FAQ
 [FAQ.md](./FAQ.md).

README_en.md

@@ -6,18 +6,18 @@ Tutorial on adapting BrainCo Revo2 hands for Unitree G1 robot. Install, setup an
 
 ## Repository Overview
 
-### Lastest version
+#### Lastest version
 
+Update 2025.09.03: Fixed the issue where the arm behaved abnormally when immediately deactivated during the first action
 
-- Update on 03.09.2025: Fixed the issue of abnormal arm movement when deactivating immediately after performing the first action.
-### brainco_ws
+#### brainco_ws
 
 G1 arm IK calculation is based on [Unitree/xr_teleoperate](https://github.com/unitreerobotics/xr_teleoperate/blob/main/teleop/robot_control/robot_arm_ik.py). Dual-arm dual-hand control is based on ROS2.
 - Main control [smach_action.py](./brainco_ws/src/control_py/control_py/smach_action.py)
 - State machine transition client [keyboard_call.py](./brainco_ws/src/control_py/control_py/keyboard_call.py)
 
 
-### ros2_stark_ws
+#### ros2_stark_ws
 
 Difference between this SDK version and [the original version](https://github.com/BrainCoTech/stark-serialport-example/tree/revo2/ros2_stark_ws):  
 The BrainCo hands communicates with Unitree G1 via **dual 485** serial ports, i.e., in a single ROS node, the left and right hands communicate simultaneously through `/dev/ttyUSB0` and `/dev/ttyUSB1`.
@@ -28,12 +28,12 @@ The BrainCo hands communicates with Unitree G1 via **dual 485** serial ports, i.
 
 Tutorial video (to be added)
 
-### Robot Startup
+#### Robot Startup
 1. Power on Unitree G1 by refering to [Unitree Documentation Center|Operational Guidance](https://support.unitree.com/home/en/G1_developer/quick_start). When the robot powered, the hands' LED will light up and the fingers will reset automatically.
 2. Wait about 1 minute until G1 enters **Zero Torque Mode**, meaning joints can move freely without resistance.
 3. Use the remote controller and press the corresponding buttons to switch the robot sequentially into **Damping Mode** → **Ready Mode**. (Note: For arm development, do not enter **Motion Mode**.)
 
-### Remote Connection
+#### Remote Connection
 Based on [Unitree Documentation Center|Quick Start](https://support.unitree.com/home/en/G1_developer/quick_development):
 1. For the first connection, use an Ethernet cable to connect G1 and your computer. Set the computer’s IP to the same subnet as G1: `192.168.123.XXX`, e.g.:
 ```
@@ -79,7 +79,7 @@ sudo nmcli connection down <SSID> && sudo nmcli connection up <SSID>
 ```
 
 
-### Environment Dependencies
+#### Environment Dependencies
 1. Install Miniconda. Visit [Miniconda Pages](https://www.anaconda.com/docs/getting-started/miniconda/main), choose system: `Linux`, architecture: `ARM64`, and install miniconda using the provided commands.
 
 2. Create a conda environment named `g1brainco` with **Python 3.8**:
@@ -102,7 +102,7 @@ pip install empy==3.3.2
 pip install lark-parser
 ```
 
-### Install Unitree ROS2
+#### Install Unitree ROS2
 1. Based on [Unitree Documentation Center|Ros2 Communication Routine](https://support.unitree.com/home/en/G1_developer/ros2_communication_routine), install and compile `unitree_ros2`.
 
 2. Open `~/unitree_ros2/setup.sh`, change `"enp3s0"` to `"eth0"`
@@ -112,7 +112,7 @@ export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces>
                         </Interfaces></General></Domain></CycloneDDS>'
 ```
 
-### Install BrainCo Hand SDK
+#### Install BrainCo Hand SDK
 1. Download this repository to G1:
 - Method 1: 
 ```sh
@@ -132,13 +132,13 @@ chmod +x ./launch/launch_trans.sh
 chmod +x ./launch/launch_robot.sh
 ```
 
-### Configure BrainCo Hands
+#### Configure BrainCo Hands
 Open `ros2_stark_ws/src/ros2_stark_controller/config/params_v2_double.yaml`and modify parameters if needed (You can use default settings).  
 - `port_l, port_r`: Left and right hand serial ports, corresponding to USB-485 adapter`485_A, 485_B`.
 - `baudrate`: Baud rate.
 - `slave_id_l, slave_id_r`: Default for left hand`0x7e` and for right hand `0x7f`.
 
-### Compile
+#### Compile
 
 ```sh
 # Activate conda env
@@ -156,7 +156,7 @@ python -m colcon build
 
 Open two terminals simultaneously.
 
-### Terminal 1: Start main control node and hand node
+#### Terminal 1: Start main control node and hand node
 ```sh
 conda activate g1brainco                    # activate conda env
 cd ~/unitree-g1-brainco-hand/brainco_ws     # enter workspace     
@@ -175,14 +175,14 @@ If error occurs, check parameters in `ros2_stark_ws/src/ros2_stark_controller/co
 Then you can send state transition requests.
 
 
-### Terminal 2: Start state transition client node
+#### Terminal 2: Start state transition client node
 ```sh
 conda activate g1brainco                    # activate conda env
 cd ~/unitree-g1-brainco-hand/brainco_ws     # enter workspace       
 ./launch/launch_trans.sh                    # run launch.sh
 ```
 
-### State Transition Requests
+#### State Transition Requests
 Terminal 2 will show current state, available transitions, and corresponding actions.  
 Enter `string + Enter` to switch states.
 After entering **active** state, add `l` or `r` to control left/right hand individually.
@@ -191,5 +191,6 @@ Without `l/r`, both hands are controlled.
   <img src="brainco_ws/figs/ros2_statemachine.png" alt="statemachine" width="600"/>
 </p>
 
+
 ## FAQ
 [FAQ.md](./FAQ.md).