Go2Py

Go2Py is a Pythonic interface and driver for low-level and high-level control of Unitree Go2 quadruped robots. The motivation of this project is to ease the burden of initial interface development, safety systems of Go2 quadruped by providing a modular pipeline for real-time communication with the robot in both simulated and real world with a unified interface.

This project is comprised of the following components:

• C++ Bridge: A dockerized ROS2 bridge built upon the unitree_ros2 that implements a remote controlled emergency stop and publishes the robot states as standard ROS2 topics usable by upstream systems such as NAV2.
• Robot Interface: A simple Python class that represents the robot and communicates with the C++ bridge through either DDS (ROS independent) or ROS2 interfaces.
• Robot Management FSM: A finite state machine for controlling the behavior of the robot up to the point of handover to the user low-level controller (sitting down, standing up) with safety monitors (motor temperatures, emergency stops).
• Robot Model: A simple to use Pinocchio wrapper for computing the kinematics and dynamics parameters of the robot.
• Simulation Interface: Simulation environments based on Mujoco and Nvidia Orbit (To be added) with a Python interface identical to the real robot.

How Does Using it Look Like?

Communication with the robot will be as simple as importing a Python class:

from Go2Py.robot.interface.dds import GO2Real
from Go2Py.robot.model import Go2Model
robot = GO2Real(mode='lowlevel')
model = Go2Model()
robot.standDownReset()
while running:
    joint_state = robot.getJointStates()
    imu = robot.getIMU()
    remote = robot.getRemoteState()
    model.update(state['q'], state['dq'],T,vel) # T and vel from the EKF
    info = model.getInfo()
    
    #User control computations ...

    robot.setCommands(q_des, dq_des, kp, kd, tau_ff)

An identical workflow is can be followed for simulation:

from Go2Py.sim.mujoco import Go2Sim
from Go2Py.robot.model import Go2Model
robot = Go2Sim()
model = Go2Model()
robot.standDownReset()
while running:
    joint_state = robot.getJointStates()
    imu = robot.getIMU()
    remote = robot.getRemoteState()
    model.update(state['q'], state['dq'],T,vel) # T and vel from the EKF
    info = model.getInfo()

    #User control computations ...

    robot.setCommands(q_des, dq_des, kp, kd, tau_ff)
    robot.step()

Installation

Follow through the steps in here to setup the robot and Go2Py.

Further Examples

A set of sorted examples are provided in the examples directory to get you up and running quickly:

• High-level body velocity interface (ROS2)
• High-level body velocity interface (DDS)
• Low-level joint interface (ROS2)
• Low-level joint interface (DDS)
• Low-level simulation interface
• Contact Force Estimation
• Foot Contact Estimation
• Extended Kalman Filter Legged Inertial State Estimator
• Walk These Ways RL Controller