hardware deployment code init

README.md

@@ -8,8 +8,59 @@ Official Implementation for [Agile But Safe: Learning Collision-Free High-Speed
   <img src="images/Youtube-Cover[2M].png" width="80%"/>
 </p>
 
+
+## Hardware Deployment 
+### System overview
+<p align="center">
+  <img src="images/hardware.png" width="80%"/>
+</p>
+
+- **Robot**: [Unitree Go1 EDU](https://shop.unitree.com/)
+- **Perception**: [ZED mini Camera](https://store.stereolabs.com/products/zed-mini)
+- **Onboard Compute**: [Orin NX (16GB)](https://www.seeedstudio.com/reComputer-J4012-p-5586.html)
+- **LED**: [PSEQT LED Lights](https://www.amazon.com/gp/product/B0BKGF3JMG/ref=ox_sc_act_title_1?smid=A1QWPB2EZDWX2O&th=1)
+- **Power Regulator**: [Pololu 12V, 15A Step-Down Voltage Regulator D24V150F12](https://www.pololu.com/product/2885)
+
+### 3D Print Mounts
+- Orin NX mount: [STL-PCMount_v2](deployment/3dprints/PCMount_v2.STL)
+- ZED mini mount: [STL-CameraSeat](deployment/3dprints/CameraSeat.STL) and [STL-ZEDMountv1](deployment/3dprints/ZEDMountv1.STL)
+
+### Deployment Code Installation
+- [Unitree Go1 SDK](https://github.com/unitreerobotics/unitree_legged_sdk)
+- [ZED SDK](https://www.stereolabs.com/developers/release)
+- [ROS Noetic](https://wiki.ros.org/noetic/Installation/Ubuntu)
+- Pytorch on a Python 3 environment
+
+### Deployment Setup
+- Low Level Control Mode for Unitree Go1: `L2+A` -> `L2+B` -> `L1+L2+Start`
+- Network Configuration for Orin NX: 
+  - **IP**: `192.168.123.15`
+  - **Netmask**: `255.255.255.0`
+- Convert the `.pt` files of agile/recovery policy, RA value to `.onnx` files using `src/abs_src/onnx_model_converter.py`
+
+- Modify the path of (.onnx or .pt) models in `publisher_depthimg_linvel.py` and `depth_obstacle_depth_goal_ros.py`
+
+### Deployment Scripts
+1. `roscore`: Activate ROS Noetic Envrioment
+2. `cd src/abs_src/`: Enter the ABS scripts file
+3. `python publisher_depthimg_linvel.py`: Publish ray prediction results and odometry results for navigation goals
+4. `python led_control_ros.py`: Control the two LED lights based on RA values
+5. `python depth_obstacle_depth_goal_ros.py`: Activate the Go1 using the agile policy and the recovery policy
+
+### Deployment Controllers
+- `B`: Emergence stop
+- `Default`: Go1 Running ABS based on goal command
+- `L2`: Turn left
+- `R2`: Turn right
+- `Down`: Back
+- `Up`: Stand
+- `A`: Turn around
+- `X`: Back to initial position
+
+
+
 ## TODO:
 
 - [ ] Upload Sim Training Code
-- [ ] Upload Deployment Code
+- [x] Upload Deployment Code
 

deployment/src/.gitignore

@@ -0,0 +1,7 @@
+build
+
+*.o
+.vscode
+.clang-format
+data
+*.csv

deployment/src/CMakeLists.txt

@@ -0,0 +1,58 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(unitree_legged_sdk)
+
+# check arch and os
+message("-- CMAKE_SYSTEM_PROCESSOR: ${CMAKE_SYSTEM_PROCESSOR}")
+if("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "x86_64.*")
+  set(ARCH amd64)
+endif()
+if("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "aarch64.*")
+  set(ARCH arm64)
+endif()
+
+include_directories(include)
+link_directories(lib/cpp/${ARCH})
+
+option(PYTHON_BUILD "build python wrapper" OFF)
+if(PYTHON_BUILD)
+  add_subdirectory(python_wrapper)
+endif()
+
+set(EXTRA_LIBS -pthread libunitree_legged_sdk.a)
+set(CMAKE_CXX_FLAGS "-O3 -fPIC")
+set(CMAKE_CXX_STANDARD 14)
+
+find_package(catkin QUIET)
+if(${catkin_FOUND})
+  catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES ${PROJECT_SOURCE_DIR}/lib/cpp/${ARCH}/libunitree_legged_sdk.a
+  )
+endif()
+
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
+
+# one pc one process
+add_executable(example_position example/example_position.cpp)
+target_link_libraries(example_position ${EXTRA_LIBS})
+
+add_executable(example_velocity example/example_velocity.cpp)
+target_link_libraries(example_velocity ${EXTRA_LIBS})
+
+add_executable(example_torque example/example_torque.cpp)
+target_link_libraries(example_torque ${EXTRA_LIBS})
+
+add_executable(example_walk example/example_walk.cpp)
+target_link_libraries(example_walk ${EXTRA_LIBS})
+
+add_executable(example_joystick example/example_joystick.cpp)
+target_link_libraries(example_joystick ${EXTRA_LIBS})
+
+
+# install
+install(TARGETS
+  example_position example_velocity example_torque example_walk example_joystick
+  DESTINATION bin/unitree)
+install(DIRECTORY lib/cpp/${ARCH}/
+  DESTINATION lib/unitree
+  USE_SOURCE_PERMISSIONS)

deployment/src/CMakeLists_.txt

@@ -0,0 +1,60 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(unitree_legged_sdk)
+
+find_package(Torch REQUIRED)
+
+# check arch and os
+message("-- CMAKE_SYSTEM_PROCESSOR: ${CMAKE_SYSTEM_PROCESSOR}")
+if("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "x86_64.*")
+  set(ARCH amd64)
+endif()
+if("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "aarch64.*")
+  set(ARCH arm64)
+endif()
+
+include_directories(include)
+link_directories(lib/cpp/${ARCH})
+
+option(PYTHON_BUILD "build python wrapper" OFF)
+if(PYTHON_BUILD)
+  add_subdirectory(python_wrapper)
+endif()
+
+set(EXTRA_LIBS -pthread libunitree_legged_sdk.a)
+set(CMAKE_CXX_FLAGS "-O3 -fPIC")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${TORCH_CXX_FLAGS}")
+set(CMAKE_CXX_STANDARD 14)
+
+#one pc one process
+add_executable(example_position example/example_position.cpp)
+target_link_libraries(example_position ${EXTRA_LIBS})
+
+add_executable(example_velocity example/example_velocity.cpp)
+target_link_libraries(example_velocity ${EXTRA_LIBS})
+
+add_executable(example_torque example/example_torque.cpp)
+target_link_libraries(example_torque ${EXTRA_LIBS})
+
+add_executable(example_walk example/example_walk.cpp)
+target_link_libraries(example_walk ${EXTRA_LIBS})
+
+add_executable(example_joystick example/example_joystick.cpp)
+target_link_libraries(example_joystick ${EXTRA_LIBS})
+
+add_executable(nn_with_wireless_handle example/nn_with_wireless_handle.cpp)
+target_link_libraries(nn_with_wireless_handle ${TORCH_LIBRARIES} ${EXTRA_LIBS})
+
+add_executable(nn_test example/nn_test.cpp)
+target_link_libraries(nn_test ${EXTRA_LIBS})
+
+
+# target_link_libraries(nn_with_wireless_handle ${EXTRA_LIBS})
+
+
+# install
+# install(TARGETS
+#   example_position example_velocity example_torque example_walk example_joystick
+#   DESTINATION bin/unitree)
+# install(DIRECTORY lib/cpp/${ARCH}/
+#   DESTINATION lib/unitree
+#   USE_SOURCE_PERMISSIONS)

deployment/src/LICENSE

@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2016-2022 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

deployment/src/README.md

@@ -0,0 +1,53 @@
+# v3.8.6
+The unitree_legged_sdk is mainly used for communication between PC and Controller board.
+It also can be used in other PCs with UDP.
+
+### Notice
+support robot: Go1
+
+not support robot: Laikago, B1, Aliengo, A1. (Check release [v3.3.1](https://github.com/unitreerobotics/unitree_legged_sdk/releases/tag/v3.3.1) for support)
+
+### Dependencies
+* [Unitree](https://www.unitree.com/download)
+```bash
+Legged_sport    >= v1.36.0
+firmware H0.1.7 >= v0.1.35
+         H0.1.9 >= v0.1.35
+```
+* [Boost](http://www.boost.org) (version 1.5.4 or higher)
+* [CMake](http://www.cmake.org) (version 2.8.3 or higher)
+* [g++](https://gcc.gnu.org/) (version 8.3.0 or higher)
+
+
+### Build
+```bash
+mkdir build
+cd build
+cmake ..
+make
+```
+
+If you want to build the python wrapper, then replace the cmake line with:
+```bash
+cmake -DPYTHON_BUILD=TRUE ..
+```
+
+If can not find pybind11 headers, then add
+```bash
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/third-party/pybind11/include)
+```
+at line 14 in python_wrapper/CMakeLists.txt.
+
+If can not find msgpack.hpp, then
+```bash
+sudo apt install libmsgpack*
+```
+
+### Run
+
+#### Cpp
+Run examples with 'sudo' for memory locking.
+
+#### Python
+##### arm
+change `sys.path.append('../lib/python/amd64')` to `sys.path.append('../lib/python/arm64')`