From 05930da8e17cf95963df91b6dd8374a71ffba2dc Mon Sep 17 00:00:00 2001 From: Haoru Xue Date: Sat, 2 Nov 2024 17:12:00 -0700 Subject: [PATCH] update readme --- README.md | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index d979f00..d9d41ca 100644 --- a/README.md +++ b/README.md @@ -109,7 +109,7 @@ The real-world deployment procedure is very similar to asynchronous simulation. We use `unitree_sdk2_python` to communicate with the robot directly via CycloneDDS. -### State Estimation +### Step 1: State Estimation For state estimation, this proof-of-concept work requires external localization module to get base **position** and **velocity**. @@ -164,20 +164,20 @@ register_plugin('custom_plugin', plugin_cls=MyPlugin) Localization plugin can be changed in the configuration file. A `--plugin` argument can be supplied to `dial-mpc-real` to import a custom localization plugin in the current workspace. -### Installing `unitree_sdk2_python` +### Step 2: Installing `unitree_sdk2_python` > [!NOTE] > If you are already using ROS2 with Cyclone DDS according to [ROS2 documentation on Cyclone DDS](https://docs.ros.org/en/humble/Installation/DDS-Implementations/Working-with-Eclipse-CycloneDDS.html), you don't have to install Cyclone DDS as suggested by `unitree_sdk2_python`. But do follow the rest of the instructions. Follow the instructions in [`unitree_sdk2_python`](https://github.com/unitreerobotics/unitree_sdk2_python). -### Configuring DIAL-MPC +### Step 3: Configuring DIAL-MPC In `dial_mpc/examples/unitree_go2_trot_deploy.yaml` or `dial_mpc/examples/unitree_go2_seq_jump.yaml`, modify `network_interface` to match the name of the network interface connected to Go2. Alternatively, you can also pass `--network_interface` to `dial-mpc-real` when launching the robot, which will override the config. -### Starting the Robot +### Step 4: Starting the Robot Follow the [official Unitree documentation](https://support.unitree.com/home/en/developer/Quick_start) to disable sports mode on Go2. Lay the robot flat on the ground like shown. @@ -185,7 +185,7 @@ Follow the [official Unitree documentation](https://support.unitree.com/home/en/ Unitree Go2 laying flat on the ground. -### Running the Robot +### Step 5: Running the Robot List available examples: