Go2 MuJoCo Walk Demo (Artefacts)

Unitree Go2 walking demo using MuJoCo and the Walk-These-Ways pretrained policy. The demo runs on ubuntu, but also MacOS natively without vms or containerization.

A flat scene is added to the unitree_mujoco package (see copy stage) to provide a simple demo for the Go2 to move.

With thanks to Teddy Liao for the pretrained policy in the walk-these-ways-go2 repository.

Setup

Prerequisites

You will need cyclonedds installed if you do not have it already. We suggest to install outside of this project.

cd ~
git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x 
cd cyclonedds && mkdir build install && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=../install
cmake --build . --target install

Project Setup

cd ~/go2-mujoco-artefacts
# Create virtual environment
python3 -m venv venv
source venv/bin/activate

# Clone required repos
mkdir -p src
git clone --depth=1 -b high-level-direct https://github.com/art-e-fact/unitree_mujoco.git src/unitree_mujoco
git clone --depth=1 https://github.com/unitreerobotics/unitree_sdk2_python.git src/unitree_sdk2_python
# Install the sdk
cd src/unitree_sdk2_python
export CYCLONEDDS_HOME=~/cyclonedds/install
pip install -e .

# Back to root of repository
cd ../..
# Download WTW policy checkpoints (3 files only, no full repo clone)
bash scripts/fetch_wtw_checkpoints.sh

# Install dependencies
pip install -r requirements.txt

Run (Linux)

source venv/bin/activate # if not already
python go2_wtw_demo.py

Run (MacOS)

source venv/bin/activate # if not already
mjpython go2_wtw_demo.py

The robot will walk forward and turn left in a loop.

Run test with artefacts

1. Create a project at app.artefacts.com
2. Rename project: in the artefacts.yaml file to your `<org_name>/<project_name>
3. Run artefacts config add <org_name>/<project_name> , create the ApiKey, and paste into the terminal
4. Select N when you are prompted to whether you would like a new artefacts.yaml file

You will be able to run the test with the following command

artefacts run basic_test

Once the test has finished, test result (and a video) will be uploaded to your project page on the artefacts dashboard

Atributions

Rail scene based on work from sBjamms https://sketchfab.com/3d-models/train-track-dff84793ce2f4d7ca19e67b5194eeca2