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Go2 Sim2Real #9

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merged 19 commits into from
Nov 6, 2024
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update readme
HaoruXue committed Nov 3, 2024
commit 09db48a893287e0082185177789e1b5c273c40ad
10 changes: 5 additions & 5 deletions README.md
Original file line number Diff line number Diff line change
@@ -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**.

@@ -164,28 +164,28 @@ 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.

<div style="text-align: center;">
<img src="images/go2.png" alt="Unitree Go2 laying flat on the ground." style="width:50%;">
</div>

### Running the Robot
### Step 5: Running the Robot

List available examples: