Overwiew

This repo uses unitree_ros2 from unitree for controlling GO2 and B2, and z1_sdk/z1_controller for the Z1 arm.

We add on top of these some new messages and a complete robot_hal script to talk with the robots in ROS2, fully compatible with different dls repository, like:

• basic-locomotion-isaaclab for RL locomotion
• get-up-isaaclab for RL get-up task
• sim2real-robot-identification for IsaacLab and Mujoco identification
• Quadruped-PyMPC for MPC
• muse for State Estimation

Dependencies

The main dependencies other than ros-humble are

ros-humble-rmw-cyclonedds-cpp
ros-humble-rosidl-generator-dds-idl

Note that if you are using one of our other repos with conda, you will likely have them installed. In that case, just activate that conda env!

Otherwise, an example of conda environment containing these dependencies can be found in the folder installation, which can be installed by doing

conda env create -f installation/mamba_environment_humble.yaml
conda activate unitree_ros2_humble_env

Be sure to have these before proceeding.

Setup Go2, B2, A2

Follow README_unitree_ros2 to install the things needed for GO2, B2 and A2.

Setup Z1 arm

Follow README_unitree_z1 to install the things needed for Z1 arm.

How to contribute

PRs are very welcome (search for TODO in the issue, or add what you like)!

Maintainer

This repository is maintained by Giulio Turrisi.