74 lines
3.4 KiB
Markdown
74 lines
3.4 KiB
Markdown
|
# 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](https://support.unitree.com/home/en/developer/ROS2_service)
|
||
|
|
|
||
|
|
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.
|
||
|
|
```bash
|
||
|
|
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](https://forums.developer.nvidia.com/t/pytorch-for-jetson/72048) with v1.10.0. Then install it with
|
||
|
|
```bash
|
||
|
|
pip install torch-1.10.0-cp36-cp36m-linux_aarch64.whl
|
||
|
|
```
|
||
|
|
|
||
|
|
- Install `ros2-numpy` from [here](https://github.com/nitesh-subedi/ros2_numpy) in a new colcon_ws, where you prefer.
|
||
|
|
```bash
|
||
|
|
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
|
||
|
|
```
|
||
|
|
|
||
|
|
4. 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.
|
||
|
|
|
||
|
|
3. Install rsl_rl and other dependencies.
|
||
|
|
```bash
|
||
|
|
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](https://support.unitree.com/home/zh/developer/Basic_motion_control) and [official example](https://github.com/unitreerobotics/unitree_sdk2/blob/main/example/low_level/stand_example_go2.cpp#L184)
|
||
|
|
|
||
|
|
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
|
||
|
|
```bash
|
||
|
|
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
|
||
|
|
```bash
|
||
|
|
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**.
|