Digital-Twin-for-Sim-to-Real-Learning--based-Quadruped-Locomotion

1. Requirements

1.1 Software

a) IsaacSim 4.5.0
b) IsaacLab
c) Unitree_sdk2
d) Unitree_sdk2_python
e) Redis
f) Miniconda
g) vicon tracker in windows

1.2 Hareware

a) PC in Ubuntu
b) PC in Windows
c) Vicon System
e) Unitree Go2

2. Setup

2.1 Setup on an Ubuntu PC

a) Download. We only use the in_ubuntu folder.

git clone https://github.com/Zibo8/Digital-Twin-for-Sim-to-Real-Learning--based-Quadruped-Locomotion.git

b) modify the bashrc file

cd ~
gedit .bashrc

add path in the bashrc file

export PYTHONPATH=~/unitree_sdk2_python:$PYTHONPATH

export PYTHONPATH=~/in_ubuntu:$PYTHONPATH 

then, use the 'source' command

source .bashrc

c) Create the virtual enviroment. IsaacSim 4.5.0 have the environment.yml to help us create the virtual enviroment. Assume that the name of IsaacSim folder is isaacsim.

cd ~/isaacsim

conda env create -f environment.yml

2.2 Setup on a Windows PC We only use the in_windows folder.

git clone https://github.com/Zibo8/Digital-Twin-for-Sim-to-Real-Learning--based-Quadruped-Locomotion.git

2.3 Set Ip Vicon system and Unitree Go2 have the default Ip. So we neet to set the IP so that they can communicate.

3. Simulation

conda activate isaacsim

cd in_ubuntu/sim_go2

python sim_go2.py

4. Run

a) Windows PC: Run the vicon tracker software, make sure that you can see updates of position in it.

b) Windows PC: This file can send date from vicon tracker software to ubuntu PC by Redis.

python vel_and_command_average.py

c) Ubuntu PC: This file is to get the digital twin. If you want to test the policy, you can ignore these steps.

cd in_ubuntu/real_go2

conda activate isaacsim

python twin_go2.py

d) Ubuntu PC: Before running the code, make sure that the Robot stand down.

cd in_ubuntu/real_go2

conda activate isaacsim

python real_go2.py