Saqr/README.md

Saqr — PPE Safety Detection on Unitree G1

Real-time PPE compliance (helmet, vest, boots, gloves, goggles) using YOLO11n, designed to run on a Unitree G1 humanoid with an Intel RealSense D435I. On UNSAFE the robot speaks a warning and plays the reject arm action.

Layout

saqr/           # python package
  core/         # detection + tracking + events (shared by CLI/GUI/bridge)
  apps/         # CLI entry points (saqr, detect, train, manager, view_stream)
  gui/          # PySide6 desktop GUI
  robot/        # G1 bridge + DDS controller
  utils/        # logger
scripts/        # deploy.sh, start_saqr.sh, run_local.sh, run_robot.sh, systemd unit
config/         # logging.json
data/           # dataset/, models/   (gitignored)
runtime/        # captures/, logs/, runs/   (gitignored)
docs/           # DEPLOY.md, start.md, use_case_catalogue.pdf

Quick start

# Install the package (editable)
pip install -e .

# Local dev run (webcam)
saqr --source 0

# PySide6 GUI
pip install -e ".[gui]"
saqr-gui

# On the Unitree G1 (bridge owns the R2+X / R2+Y flow)
saqr-bridge --iface eth0 --source realsense --headless -- --stream 8080

Without installing, everything still works via python -m:

python -m saqr.apps.saqr_cli --source 0
python -m saqr.robot.bridge --iface eth0 --source realsense --headless

Docs

• docs/DEPLOY.md — full deploy + robot setup.
• docs/start.md — systemd auto-start workflow.
• docs/use_case_catalogue.pdf — PPE use-case spec.