From 24f94d8226e416d3fd2d4dc5ad3b4aa239994dcd Mon Sep 17 00:00:00 2001
From: meiqi <976161896@qq.com>
Date: Tue, 31 Mar 2026 14:25:19 +0800
Subject: [PATCH] readme

---
 .../udp_loopback/README_omnisocket.md         | 36 +++++++++++++++++++
 1 file changed, 36 insertions(+)

diff --git a/Deploy_Tienkung/udp_loopback/README_omnisocket.md b/Deploy_Tienkung/udp_loopback/README_omnisocket.md
index ccdbc07..952905a 100644
--- a/Deploy_Tienkung/udp_loopback/README_omnisocket.md
+++ b/Deploy_Tienkung/udp_loopback/README_omnisocket.md
@@ -1,3 +1,39 @@
+服务器：
+ssh bj-txy
+cd OmniSoketGo
+./bin/kcpserver -listen 0.0.0.0:10909
+
+ssh gz-txy
+cd OmniSoketGo
+./bin/kcpserver -mode=relay -listen 0.0.0.0:10909 -relay-remote 172.21.32.15:10909
+
+MuJoCo端：
+终端1：
+source /opt/ros/humble/setup.zsh
+export ROS_DOMAIN_ID=10
+cd tienkung-szu/xSIM_MUJOCO
+python scripts/simulator_view_asyn.py -m evt2
+
+终端2：
+source /opt/ros/humble/setup.zsh
+export ROS_DOMAIN_ID=10
+cd tienkung-szu/Deploy_Tienkung
+python3 rl_control_node_sim.py
+
+控制端：
+键盘控制：
+cd tienkung-szu/Deploy_Tienkung
+python3 udp_loopback/omnisoket_keyboard_sender.py
+
+xbox:
+终端1：
+source /opt/ros/humble/setup.bash
+ros2 run joy joy_node --ros-args -r joy:=/xbox_data
+
+终端2：
+cd tienkung-szu/Deploy_Tienkung
+python3 udp_loopback/omnisoket_xbox_sender.py
+
 # OmniSocket Integration
 
 This repo now supports an OmniSocket-based control path alongside the original UDP loopback.