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M20 SDK Deploy

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Overview

This repository uses ROS2 to implement the entire Sim-to-sim and Sim-to-real workflow. Therefore, ROS2 must first be installed on your computer, such as installing ROS2 Humble on Ubuntu 22.04. We've also released an introduction video, please check it out! Please go through the whole process on a Ubuntu system.

graph LR
    A["/rl_deploy"] -->|/JOINTS_CMD| B["/mujoco_simulation"]
    B -->|/IMU_DATA| A
    B -->|/JOINTS_DATA| A
Loading 
# ros2 topic list
/BATTERY_DATA
/IMU_DATA
/JOINTS_CMD
/JOINTS_DATA
/parameter_events
/rosout


# ros2 node info /mujoco_simulation 
/mujoco_simulation
  Subscribers:
    /JOINTS_CMD: drdds/msg/JointsDataCmd
  Publishers:
    /IMU_DATA: drdds/msg/ImuData
    /JOINTS_DATA: drdds/msg/JointsData
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /rosout: rcl_interfaces/msg/Log
  Service Servers:
    /mujoco_simulation/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /mujoco_simulation/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /mujoco_simulation/get_parameters: rcl_interfaces/srv/GetParameters
    /mujoco_simulation/list_parameters: rcl_interfaces/srv/ListParameters
    /mujoco_simulation/set_parameters: rcl_interfaces/srv/SetParameters
    /mujoco_simulation/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
  Service Clients:

  Action Servers:

  Action Clients:


# ros2 node info /rl_deploy 
/rl_deploy
  Subscribers:
    /BATTERY_DATA: drdds/msg/BatteryData
    /IMU_DATA: drdds/msg/ImuData
    /JOINTS_DATA: drdds/msg/JointsData
    /parameter_events: rcl_interfaces/msg/ParameterEvent
  Publishers:
    /JOINTS_CMD: drdds/msg/JointsDataCmd
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /rosout: rcl_interfaces/msg/Log
  Service Servers:
    /rl_deploy/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /rl_deploy/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /rl_deploy/get_parameters: rcl_interfaces/srv/GetParameters
    /rl_deploy/list_parameters: rcl_interfaces/srv/ListParameters
    /rl_deploy/set_parameters: rcl_interfaces/srv/SetParameters
    /rl_deploy/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
  Service Clients:

  Action Servers:

  Action Clients:

Contribution

Everyone is welcome to contribute to this repo. If you discover a bug or optimize our training config, just submit a pull request and we will look into it.

Sim-to-sim

pip install "numpy < 2.0" mujoco
git clone https://github.com/DeepRoboticsLab/sdk_deploy.git

# Compile
cd sdk_deploy
source /opt/ros/<ros-distro>/setup.bash
colcon build --packages-up-to m20_sdk_deploy --cmake-args -DBUILD_PLATFORM=x86
# Run (Open 2 terminals)
# Terminal 1
export ROS_DOMAIN_ID=1
source install/setup.bash
ros2 run m20_sdk_deploy rl_deploy

# Terminal 2 
export ROS_DOMAIN_ID=1
source install/setup.bash
python3 src/M20_sdk_deploy/interface/robot/simulation/mujoco_simulation_ros2.py

Control (Terminal 2)

Note:

  • Right click simulator window and select "always on top"
  • When the robot dog stands up, it may become stuck due to self-collision in the simulation. This is not a bug; please try again.
  • z： default position
  • c： rl control default position
  • wasd：forward/leftward/backward/rightward
  • qe：clockwise/counter clockwise

Sim-to-Real

This process is almost identical to simulation-simulation. You only need to add the step of connecting to Wi-Fi to transfer data, and then modify the compilation instructions.Real-robot control is divided into keyboard mode and gamepad control mode. You need to modify the RemoteCommandType parameter in the main function to select the desired mode.

Please first use the OTA upgrade function in the handle settings to upgrade the hardware to version 1.1.8. We require a sdk authentication code to activate the sdk mode. Please contact our technical support team to get this unique code for each robot.

# computer and gamepad should both connect to WiFi
# WiFi: M20********
# Passward: 12345678 (If wrong, contact technical support)

# scp to transfer files to quadruped (open a terminal on your local computer) password is ' (a single quote)
scp -r ~/sdk_deploy/src user@10.21.31.103:~/sdk_deploy

# ssh connect for remote development, 
ssh user@10.21.31.103
cd sdk_deploy
source /opt/ros/foxy/setup.bash #source ROS2 env
colcon build --packages-select m20_sdk_deploy --cmake-args -DBUILD_PLATFORM=arm


sudo su # Root
source /opt/ros/foxy/setup.bash #source ROS2 env
source /opt/robot/scripts/setup_ros2.sh
# Use the gamepad to enable SDK mode. Need authorization code, please contact technical support team.

# Run
source install/setup.bash
ros2 run m20_sdk_deploy rl_deploy

# exit sdk mode：
# Use the gamepad to enable SDK mode.

⌨️ Keyboard Control

  • z： default position
  • c： rl control default position
  • x： lie down
  • wasd：forward/leftward/backward/rightward
  • qe：clockwise/counter clockwise

🎮 Gamepad Control

(Note: When using the gamepad control function, please ensure that the Gamepad APP version is V1.5.11 or higher.) 2838b054246d4700247b36207243258f

  • L1： default position
  • L2： rl control default position
  • R1： lie down
  • R2： joint damping
  • Left joystick：forward/leftward/backward/rightward
  • Right joystick：clockwise/counter clockwise