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OpenWBT Hardware List and Environment Configuration

GALBOT · Tsinghua

中文 |英文

Hardware List

Device Name Description Official Link
G1-EDU Unitree Robot Development Platform G1-EDU Developer Support
Apple Vision Pro Apple Mixed Reality Device https://www.apple.com/apple-vision-pro/
Joystick For Device Control Please contact openwbt@galbot.com
User Computer Ubuntu 20.04 Recommended -

Environment Configuration

Conda Environment Configuration

Clone the Repository

git clone https://github.com/GalaxyGeneralRobotics/OpenWBT.git

The default working directory is ~/OpenWBT. Please modify it according to your actual setup.

Create and Activate Conda Environment

conda create -n OpenWBT python=3.8
conda activate OpenWBT

Install Core Dependencies

# Install pinocchio, version must be 3.1.0
conda install pinocchio -c conda-forge
pip install meshcat
pip install casadi
pip install onnxruntime
pip install pyserial
pip install mujoco

For the remaining dependencies, refer to the requirements.txt file in https://github.com/unitreerobotics/avp_teleoperate/tree/main to configure:

pip install -r requirements.txt

unitree_sdk2_python Installation

Ensure you are in the OpenWBT Conda environment and execute the following commands:

# Clone the SDK repository
git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
# Enter the repository directory
cd unitree_sdk2_python
# Install the SDK
pip install -e .

Isaac Gym Installation

Download the Isaac Gym installation package from the [Isaac Gym download page]: (https://developer.nvidia.com/isaac-gym/download)and extract it. Then navigate to the IsaacGym_Preview_4_Package/isaacgym/python directory and execute the following command:

pip install -e .

ROS 2 Environment Configuration

Installation steps refer to Unitree G1 ROS2 Communication

Install CMake Build Tools and GCC 9.4.0

# Install CMake 3.23.3 (compile from source downloaded from the official website). Refer to the official documentation for compilation steps.
wget https://cmake.org/files/v3.23/cmake-3.23.3.tar.gz

tar -zxvf cmake-3.23.3.tar.gz
cd cmake-3.23.3
sudo apt-get -y install libssl-dev
sudo ./configure
sudo make -j8
sudo make install

cmake --version # Verify successful installation:

# Install GCC 9.4.0
sudo apt-get install gcc-9 g++-9
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 90
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-9 90

Install ROS 2 Foxy

The following uses ROS2 Foxy as an example. If you are using another version of ROS2, simply replace foxy with the name of your current ROS2 version wherever applicable.

For ROS2 Foxy installation, please refer to:
https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html

Note: After installation, it is recommended to comment out source /opt/ros/foxy/setup.bash in .bashrc to prevent conflicts.

Install and Compile unitree_ros2

  • Installation:
# Clone the repository
git clone https://github.com/unitreerobotics/unitree_ros2
# Install dependencies
pip install empy==3.3.4 catkin_pkg==1.0.0 lark==1.2.2
sudo apt install ros-foxy-rmw-cyclonedds-cpp
sudo apt install ros-foxy-rosidl-generator-dds-idl # Comment out "source /opt/ros/foxy/setup.bash" in ~/.bashrc

Before compiling CycloneDDS, make sure no ROS2 environment variables are sourced when launching the terminal. Otherwise, CycloneDDS may fail to compile.
You can check your ~/.bashrc file for any lines such as source /opt/ros/foxy/setup.bash and comment them out or remove them if present.

  • Compile:
cd ~/unitree_ros2/cyclonedds_ws/src
git clone https://github.com/ros2/rmw_cyclonedds -b foxy
git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x
cd ..
colcon build --packages-select cyclonedds
  • Enable the ROS 2 environment and build the unitree_ros2 project
source /opt/ros/foxy/setup.bash
colcon build

Network Configuration and Verification

  1. Connect the robot, and check your network interface name and IP using ifconfig, e.g., name eno1, IP 192.168.123.161.

  2. Configure your host network to be in the same subnet as the robot, e.g.:

    • IP: 192.168.123.222
    • Netmask: 255.255.255.0
    • Gateway: 192.168.123.1

  3. Modify the network interface configuration: In ~/unitree_ros2/setup.sh, change NetworkInterface name="eno1" to match your actual interface name.

  4. Switch to the ROS 2 environment:

source /opt/ros/foxy/setup.sh; source ~/unitree_ros2/setup.sh
  1. Run ros2 topic list to verify the connection. If robot-related topics appear, the configuration is successful.

Apple Vision Pro Communication Configuration

Apple does not allow WebXR to be used over non-HTTPS connections. To test the application locally, you need to use mkcert to create a self-signed certificate and install it on the client.

Install mkcert with brew

Install brew

sudo apt-get install build-essential procps curl file git
cd \~
/bin/bash -c "\$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"

Install mkcert

brew install mkcert

Generate and Configure Certificates

  • Check local IP address
ifconfig | grep inet
  • Create certificates

Assuming the local IP address is 192.168.123.2:

mkcert -install && mkcert -cert-file cert.pem -key-file key.pem 192.168.123.2 localhost 127.0.0.1 # Replace with your actual IP address
  • Copy the generated cert.pem and key.pem files to the teleop directory of the project
cp cert.pem key.pem \~/avp\_teleoperate/teleop/
  • Configure system firewall Open TCP port 8012
sudo ufw allow 8012

Install Certificate on Apple Vision Pro

Execute the mkcert -CAROOT command to get the path of rootCA.pem. Then use Apple's AirDrop function to send the rootCA.pem file to Apple Vision Pro for installation.

Note: Apple Vision Pro needs to enable file reception before receiving files. Method: Settings >> General >> AirDrop >> Everyone (10 minutes).

Enable WebXR-Related Features on Apple Vision Pro

Enable path: Settings >> Apps >> Safari Browser >> Advanced >> Feature Flags >> Enable WebXR-related features.

Entering VR for Teleoperation with Real-Time Video

Prerequisites: The teleoperation program has been executed on the user's computer and the robot's image service is enabled.

Open the browser on Apple Vision Pro and enter: https://192.168.123.2:8012?ws=wss://192.168.123.2:8012 Click "Enter VR" and allow tracking to view the camera feed. Note: Replace with your actual IP address.