Simonforyou / walk-these-ways-go2

Deploy walk-these-ways project on Unitree Go2

Sim-to-Real project on Unitree Go2

Overview

This repository is forked from walk-these-ways, which is a Go1 Sim-to-Real Locomotion Starter Kit. It seems that walk-these-ways can be untilized on Unitree A1 with simple modifications, since those robots are base on unitree-legged-sdk.

However, the brand-new architecture unitree-sdk2 is not base on UDP anymore, so this project aims to train and deploy walk-these-ways on Unitree Go2 by modifying SDK interfaces.

Requirements

• pytorch 1.10 with cuda-11.3
• Isaac Gym
• Nvidia GPU with at least 8GB of VRAM

---

Train

Clone this repository and install:

git clone https://github.com/Teddy-Liao/walk-these-ways-go2.git
cd walk-these-ways-go2
pip install -e .

Start training:

python scripts/train.py

For convenience, urdf file path is directly swtitched from go1.urdf to go2.urdf.

Play the model:

python scripts/play.py

Go2 pretrained model is provided in ./runs, you can choose whether to use provide pretrained model by modifying the label line label = "gait-conditioned-agility/pretrain-go2/train" to your own trained model.

Known Issues

• flip_visual_attachments in go1_config should be set to True, otherwise errors would occur when visualizing.
• To change configuration parameters of env or the robot, you should modify parameters in go1_config, not in legged_robot_config

---

Deploy

Trained policy is only supported to be deployed through your PC or laptop now, because I am not familiar with Jetson Orin, and hope I can fix it and deploy on Jetson Orin.

Requirements

Install LCM

Since walk-these-ways implement an interface based on Lightweight Communications and Marshalling (LCM) to pass sensor data, motor commands, and joystick state between their code and the low-level control SDK provided by Unitree, LCM should be installed firstly in your PC or laptlop.

Clone LCM repository to the path you usually place installed softwares, then install LCM:

git clone https://github.com/lcm-proj/lcm.git
mkdir build
cd build
cmake ..
make
sudo make install

Build unitree_sdk2

unitree_sdk2 has been inclued in go2_gym_deploy/unitree_sdk2_bin/library/unitree_sdk2, you can also clone from Unitree Robotics to make sure the sdk is updated version.

cd go2_gym_deploy

Delete build file

rm -r build

Install and build:

sudo ./install.sh
mkdir build
cd build
cmake ..
make

Build lcm_position_go2

go2_gym_deploy/unitree_sdk2_bin/lcm_position_go2.cpp is the core file of this project, which is similar to lcm_position.cpp in walk-these-ways, but replace unitree_legged_sdk with unitree_sdk2.

Build lcm_position_go2 and generate runfile lcm_position_go2

cd go2_gym_deploy
rm -r build
mkdir build
cd build
cmake ..
make -j

All LCM messages in go2_gym_deploy/lcm_types are set as the same format shown in walk-these-ways to ensure successful connection with python files.

xxx_lcmt.hpp files are generated by:

lcm-gen -x xxx.lcm

Verify connection

Connect your PC/Laptop with Go2 robot with ethernet cable and check connection by:

ping 192.168.123.161

Check the network interface address, and copy the network interface address.

ifconfig

If error occurs, please check Unitree Support for details.

Test communication between LCM and unitree_sdk2

cd go2_gym_deploy/build
sudo ./lcm_position_go2 enx10086

Aeplace enx10086 with your own network interface address. According to the messages shown in terminal, press Enter for several times and the communication between LCM and unitree_sdk2 will set up.

This command will automatically shut down Unitree sport_mode Service and set the robot to LOW-LEVEL. Please make sure This will Go2 is hung up or lie on the ground.

You can verify LCM send by opening a new terminal:

cd go2_gym_deploy/build
sudo ./lcm_receive

Load and run policy

Open a new terminate and run:

cd go2_gym_deploy/scripts
python deploy_policy.py

According to the hints shown in terminal, Press [R2] to start the controller. You can check RC mapping from walk-these-ways page.

Caution:

• Press [L2+B] if any unexpected situation occurs!!!
• This is research code; use at your own risk; we do not take responsibility for any damage.

Test Video on Unitree Go2: https://www.bilibili.com/video/BV1tQ4y1c7ZG/?spm_id_from=333.999.0.0&vd_source=07873ebe2a113dac57775e264a210929

Please star this repository if it does help you! Thanks!

Acknowledgements

• Many thanks to XiaoxiaoMeitou, who provide Nvidia 3060ti and supporting.
• Many thanks to Jony for his support and encourage me to learn basic kownledge about RL.
• Many thanks to Simonforyou, who provide Go2 pretrained model.

TO DO

• Deploy on Jeston Orin Nano