Skip to content

Latest commit

 

History

History
73 lines (53 loc) · 3.39 KB

Deploy-Go2.md

File metadata and controls

73 lines (53 loc) · 3.39 KB
Raw

Deploy the model on your real Unitree Go2 robot

This file shows an example of how to deploy the model on the Unittree Go2 robot (with Nvidia Jetson NX).

The code is a quick start of the deployment and fit the simulation as much as possible. You can modify the code to fit your own project.

Install dependencies on Go2

  1. Take Nvidia Jetson Orin as an exmaple, make sure your JetPack and related software are up-to-date.

  2. Install ROS and the unitree ros package for Go2

  3. Set up a folder on your robot for this project, e.g. parkour. Then cd into it.

  4. Create a python virtual env and install the dependencies.

    • Install pytorch on a Python 3 environment.

      sudo apt-get install python3-pip python3-dev python3-venv
python3 -m venv parkour_venv
source parkour_venv/bin/activate

    • Download the pip wheel file from here with v1.10.0. Then install it with

      pip install torch-1.10.0-cp36-cp36m-linux_aarch64.whl

    • Install ros2-numpy from here in a new colcon_ws, where you prefer.

      pip install transformations pybase64
mkdir -p ros2_numpy_ws/src
cd ros2_numpy_ws/src
git clone https://github.com/nitesh-subedi/ros2_numpy.git
cd ../
colcon build

  5. Copy folders of this project.

    • copy the rsl_rl folder to the parkour folder.
    • copy the distilled parkour log folder (e.g. Jul18_07-22-08_Go2_10skills_fromJul16_07-38-08) to the parkour folder.
    • copy all the files in onboard_script/go2 to the parkour folder.

  6. Install rsl_rl and other dependencies.

    pip install -e ./rsl_rl

Run the model on Go2

Disclaimer: Always put a safety belt on the robot when the robot moves. The robot may fall down and cause damage to itself or the environment.

  1. Put the robot on the ground, power on the robot, and turn off the builtin sport service. Make sure your Intel Realsense D435i camera is connected to the robot and the camera is installed where you calibrated the camera.

    To turn off the builtin sport service, please refer to the official guide and official example

  2. Launch 2 terminals onboard (whether 2 ssh connections from your computer or something else), named T_visual, T_run. Source the Unitree ROS environment, ros2_numpy_ws and the python virtual environment in both terminals.

  3. In T_visual, run

    cd parkour
python go2_visual.py --logdir Jul18_07-22-08_Go2_10skills_fromJul16_07-38-08

    where Jul18_07-22-08_Go2_10skills_fromJul16_07-38-08 is the logdir of the distilled model.

  4. In T_run, run

    cd parkour
python go2_run.py --logdir Jul18_07-22-08_Go2_10skills_fromJul16_07-38-08

    where Jul18_07-22-08_Go2_10skills_fromJul16_07-38-08 is the logdir of the distilled model.

    Currently, the robot will not actually move its motors. You may see the ros topics. If you want to let the robot move, you can add argument --nodryrun in the command line, but be careful.