Walk These Ways Deployment guide

Based on the official guide.

Table of Contents

1. Installing the Deployment Utility
2. Running the Controller
3. The RC Mapping
4. Addendums
   1. How to connect to the robot
   2. How to change your subnet
   3. How to enable ip forwarding

Installing the Deployment Utility

First you need to clone the repository to your local computer

git clone https://github.com/Improbable-AI/walk-these-ways

The second step is to connect your development machine to the robot.

You should ping the robot to verify the connection: ping 192.168.123.15 should return x packets transmitted, x received, 0% packet loss.

Once you have confirmed the robot is connected, run the following command on your computer to transfer files to the robot. The first time you run it, the script will download and transfer the zipped docker image for development on the robot (deployment_image.tar). This file is quite large (3.5GB), but it only needs to be downloaded and transferred once.

cd go1_gym_deploy/scripts && ./send_to_unitree.sh

Next, you will log onto the robot's onboard computer and install the docker environment. To enter the onboard computer, the command is:

ssh [email protected]

The password is 123.

Now, run the following commands on the robot's onboard computer:

chmod +x installer/install_deployment_code.sh
cd ~/go1_gym/go1_gym_deploy/scripts
sudo ../installer/install_deployment_code.sh

The installer will automatically unzip and install the docker image containing the deployment environment.

Running the Controller

Place the robot into damping mode. The control sequence is: [L2+A], [L2+B], [L1+L2+START]. After this, the robot should sit on the ground and the joints should move freely.

Now, ssh to [email protected] and run the following two commands to start the controller. This will operate the robot in low-level control mode. Make sure your Go1 is hung up.

First:

cd ~/go1_gym/go1_gym_deploy/autostart
./start_unitree_sdk.sh

Second:

cd ~/go1_gym/go1_gym_deploy/docker
sudo make autostart

The robot will wait for you to press [R2], then calibrate, then wait for a second press of [R2] before running the control loop.

The RC Mapping

The RC mapping is depicted above.

Addendums

How to connect to the robot

Using WiFi

1. Connect to the Go1's WiFi cachorro_robo. The password is 0000000
2. Make sure that ip forwarding is enabled. (How to enable ip forwarding)
3. You should ping the robot to verify the connection: ping 192.168.123.15 should return x packets transmitted, x received, 0% packet loss.

Using an Ethernet Cable

1. Connect the ethernet cable.
2. Make sure that the subnet of your ethernet adapter is 192.168.123.42/24. (How to change subnet)
3. You should ping the robot to verify the connection: ping 192.168.123.15 should return x packets transmitted, x received, 0% packet loss.

How to change subnet

ifconfig to list all interfaces (they look like enp1s0 for ethernet and wlp2s0 for wifi)

sudo ifconfig <interface> down
sudo ifconfig <interface> 192.168.123.42/24
sudo ifconfig <interface> up

How to enable ip forwarding

1. SSH to Pi with password 123

ssh [email protected]

2. Execute the following code on the robot's Raspberry Pi：

sudo vi /etc/sysctl.conf

3. Remove the comment in front of net.ipv4.ip_forward=1

4. Reload sysctl

sudo sysctl -p

5. Setup iptables for wireless config

• Flush iptables

sudo iptables -F

• Flush NAT table

sudo iptables -t nat -F

• Setup NAT table routing

sudo iptables -t nat -A POSTROUTING -o wlan1 -j MASQUERADE
sudo iptables -t nat -A POSTROUTING -o eth0 -j MASQUERADE
sudo iptables -A FORWARD -i wlan1 -o eth0 -j ACCEPT
sudo iptables -A FORWARD -i eth0 -o wlan1 -j ACCEPT