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

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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

go2_gym and go2_gym_learn folders are the main folders for training process.

Play the model:

cd scripts
python 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 go2_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 go2_config, not in legged_robot_config

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Deploy on PC

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 any location (where 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

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/unitree_sdk2_bin/library/unitree_sdk2

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 files in go2_gym_deploy/lcm_types are set as the same format shown in walk-these-ways to ensure successful connection with python files. LCM message files are provided in this project, and you can also generate customized LCM message files through the following instructions:

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 button [R2] to start the controller. You can check RC mapping in the following subsection.

Joystick Mapping

To view the details of joystick mapping or even modify default mapping logic, please refer to the get_command function within the cheetah_state_estimator.py file. In this project, the default gait is set to trot.

Caution:

• Press [L2+B] to switch to damping mode 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:

• Test in my bedroom: https://www.bilibili.com/video/BV1tQ4y1c7ZG/?spm_id_from=333.999.0.0&vd_source=07873ebe2a113dac57775e264a210929
• Test by other contributors: https://www.bilibili.com/video/BV1Ut421H7Fr/?spm_id_from=333.1007.top_right_bar_window_history.content.click&vd_source=07873ebe2a113dac57775e264a210929

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Deploy on Nvidia Jetson Orin

To be continue:

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

Acknowledgements

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

TO DO

• Do not inherit config and env from go1_gym, build customized config and env files for Go2
• Deploy on Jeston Orin Nano