EmbodiedAI
/
rl_sar
mirror of https://github.com/fan-ziqi/rl_sar.git
3
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

The real-world test of Go2 was successful

This commit is contained in:
zma69650 2024-10-15 09:25:44 +08:00
parent 2ee1ee50b3
commit 9d1b9eb51a
3 changed files with 4 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
CONTRIBUTORS.md
View File

@ -16,6 +16,6 @@ Guidelines for modifications:
## Contributors ## Contributors
TODO-devel-go2 add your name Jijie Huang
## Acknowledgements ## Acknowledgements

4
README.md
View File

@ -128,8 +128,6 @@ Or press **0** on the keyboard to switch the robot to the default standing posit
#### Unitree Go2 #### Unitree Go2
TODO-devel-go2 完善go2的使用说明
1. Connect one end of the Ethernet cable to the Go2 robot and the other end to the user's computer. Then, enable USB Ethernet on the computer and configure it. The IP address of the onboard computer on the Go2 robot is 192.168.123.161, so the computer's USB Ethernet address should be set to the same network segment as the robot. For example, enter 192.168.123.222 in the "Address" field ("222" can be replaced with another number). 1. Connect one end of the Ethernet cable to the Go2 robot and the other end to the user's computer. Then, enable USB Ethernet on the computer and configure it. The IP address of the onboard computer on the Go2 robot is 192.168.123.161, so the computer's USB Ethernet address should be set to the same network segment as the robot. For example, enter 192.168.123.222 in the "Address" field ("222" can be replaced with another number).
2. Use the `ifconfig` command to find the name of the network interface for the 123 network segment, such as `enxf8e43b808e06`. In the following steps, replace `<YOUR_NETWORK_INTERFACE>` with the actual network interface name. 2. Use the `ifconfig` command to find the name of the network interface for the 123 network segment, such as `enxf8e43b808e06`. In the following steps, replace `<YOUR_NETWORK_INTERFACE>` with the actual network interface name.
3. Open a new terminal and start the control program: 3. Open a new terminal and start the control program:
@ -137,7 +135,7 @@ TODO-devel-go2 完善go2的使用说明
source devel/setup.bash source devel/setup.bash
rosrun rl_sar rl_real_go2 <YOUR_NETWORK_INTERFACE> rosrun rl_sar rl_real_go2 <YOUR_NETWORK_INTERFACE>
``` ```
4. Go2 supports both gamepad and keyboard control, using the same method as mentioned above for a1.
### Train the actuator network ### Train the actuator network
Take A1 as an example below Take A1 as an example below

4
README_CN.md
View File

@ -129,8 +129,6 @@ rosrun rl_sar rl_real_a1
#### Unitree Go2 #### Unitree Go2
TODO-devel-go2 完善go2的使用说明
1. 用网线的一端连接Go2机器人，另一端连接用户电脑，并开启电脑的 USB Ethernet 后进行配置。机器狗机载电脑的 IP 地地址为 192.168.123.161，故需将电脑 USB Ethernet 地址设置为与机器狗同一网段，如在 Address 中输入 192.168.123.222 (“222”可以改成其他)。 1. 用网线的一端连接Go2机器人，另一端连接用户电脑，并开启电脑的 USB Ethernet 后进行配置。机器狗机载电脑的 IP 地地址为 192.168.123.161，故需将电脑 USB Ethernet 地址设置为与机器狗同一网段，如在 Address 中输入 192.168.123.222 (“222”可以改成其他)。
2. 通过`ifconfig`命令查看123网段的网卡名字，如`enxf8e43b808e06`，下文用 \<YOUR_NETWORK_INTERFACE\> 代替 2. 通过`ifconfig`命令查看123网段的网卡名字，如`enxf8e43b808e06`，下文用 \<YOUR_NETWORK_INTERFACE\> 代替
3. 新建终端，启动控制程序 3. 新建终端，启动控制程序
@ -138,7 +136,7 @@ TODO-devel-go2 完善go2的使用说明
source devel/setup.bash source devel/setup.bash
rosrun rl_sar rl_real_go2 <YOUR_NETWORK_INTERFACE> rosrun rl_sar rl_real_go2 <YOUR_NETWORK_INTERFACE>
``` ```
4. Go2支持手柄与键盘控制，方法与上面a1相同
### 训练执行器网络 ### 训练执行器网络
下面拿A1举例 下面拿A1举例