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Overview

This project is an improved version based on the official Unitree repository unitree_rl_lab (deploy). Key enhancements include:

• Multi-Robot Support: Full support for G1 (29 DOF) and Go2.
• Complete Workflow: Covers the entire pipeline from Sim2Sim (validation in Mujoco) to Sim2Real (physical deployment).
• Cross-Platform Compatibility: Supports inference on both x86 PCs (via Ethernet control) and the G1 Onboard Computer (PC2, Jetson Orin).

Setup

1. Install Dependencies

sudo apt install -y libyaml-cpp-dev libboost-all-dev libeigen3-dev libspdlog-dev libfmt-dev

2. Install unitree_sdk2

git clone git@github.com:unitreerobotics/unitree_sdk2.git
cd unitree_sdk2
mkdir build && cd build
cmake .. -DBUILD_EXAMPLES=OFF # Install on the /usr/local directory
sudo make install

3. Compile the robot_controller

# Make sure you are in the unitree_deployment directory
cd deploy/robots/g1_29dof # or other robots like go2
mkdir build && cd build
cmake .. && make

Sim2Sim

We use unitree_mujoco for simulation.

1. Install unitree_mujoco (if not installed).
2. Configure the simulation settings in unitree_mujoco/simulate/config.yaml:
   • robot: g1
   • domain_id: 0
   • enable_elastic_band: 1
   • use_joystick: 1

Start Simulation

Open a terminal and run the simulator:

cd unitree_mujoco/simulate/build
./unitree_mujoco
# Alternative: ./unitree_mujoco -i 0 -n eth0 -r g1 -s scene_29dof.xml

Run Policy

Open a new terminal and run the controller:

cd unitree_deployment/deploy/robots/g1_29dof/build
./g1_ctrl

Operation Steps

1. Stand Up: Press [L2 + Up] on the joystick to set the robot to a standing pose.
2. Touch Ground: Click the Mujoco window, and then press 8 on your keyboard to make the robot feet touch the ground.
3. Run Policy: Press [R1 + X] on the joystick to run the policy.
4. Release: Click the Mujoco window, and then press 9 on your keyboard to disable the elastic band.

Sim2Real

You can use this program to control the robot directly.

⚠️ Important: Make sure the on-board control program has been closed before running this to avoid conflict.

./g1_ctrl --network eth0 # eth0 is the network interface name

Unitree RL Deployment

This repository contains the deployment code for Unitree robots (G1, Go2, etc.) using Reinforcement Learning policies trained with Isaac Lab.

1. Environment Setup (x86 PC)

Before building the deployment code on a standard PC (for Sim2Sim or Sim2Real via Ethernet), install the dependencies.

1.1 Install System Dependencies

sudo apt update
sudo apt install -y libyaml-cpp-dev libboost-all-dev libeigen3-dev libspdlog-dev libfmt-dev

1.2 Install Unitree SDK2

cd ~
git clone https://github.com/unitreerobotics/unitree_sdk2.git
cd unitree_sdk2
mkdir build && cd build
cmake .. -DBUILD_EXAMPLES=OFF 
sudo make install

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2. Build the Controller

# Navigate to the robot-specific directory (e.g., G1)
cd deploy/robots/g1_29dof 

mkdir build && cd build
cmake .. && make

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3. Sim2Sim (Mujoco Simulation)

We use unitree_mujoco for simulation.

3.1 Setup Simulator

1. Install unitree_mujoco:

   git clone https://github.com/unitreerobotics/unitree_mujoco.git
   cd unitree_mujoco/simulate
   mkdir build && cd build
   cmake .. && make

2. Configure unitree_mujoco/simulate/config.yaml:
   • robot: g1
   • domain_id: 0
   • enable_elastic_band: 1 (Crucial for initial standing)
   • use_joystick: 1

3.2 Run Simulation

Terminal 1 (Simulator):

cd unitree_mujoco/simulate/build
./unitree_mujoco

Terminal 2 (Controller):

cd deploy/robots/g1_29dof/build
./g1_ctrl

3.3 Operation

1. Stand Up: Press [L2 + Up] (Joystick) -> Robot resets to standing.
2. Touch Ground: Click Mujoco window -> Press 8 (Keyboard).
3. Run Policy: Press [R1 + X] (Joystick).
4. Release: Click Mujoco window -> Press 9 (Keyboard).

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4. Sim2Real (Standard)

Use this to run the policy on a robot from an external PC via Ethernet.

⚠️ Warning: Ensure the robot is suspended safely. Close the default sport mode service on the robot before running.

./g1_ctrl --network eth0

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Appendix: Deployment on G1 Onboard Computer (PC2)

This section describes how to deploy the inference policy directly on G1's onboard computer (Jetson Orin NX, ARM64/AARCH64).

Note: PC2 is used for inference only. Do not use it for training.

1. Upgrade Compiler & CMake

The default Jetson environment requires updates to support the build.

Upgrade CMake (v3.31.8):

cd ~
wget https://cmake.org/files/v3.31/cmake-3.31.8.zip
unzip cmake-3.31.8.zip && cd cmake-3.31.8
chmod 777 ./configure
./configure
make -j8
sudo make install
sudo update-alternatives --install /usr/bin/cmake cmake /usr/local/bin/cmake 1 --force
# Verify: cmake --version (Should be 3.31.8)

Upgrade GCC/G++ (v11):

sudo apt update
sudo apt install software-properties-common
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt install gcc-11 g++-11
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-11 60 --slave /usr/bin/g++ g++ /usr/bin/g++-11
# Choose gcc-11 if prompted:
sudo update-alternatives --config gcc

2. Install Unitree SDK2 (ARM64)

cd ~
sudo apt install libeigen3-dev
git clone https://github.com/unitreerobotics/unitree_sdk2.git
cd unitree_sdk2
mkdir build && cd build
cmake ..
make -j8
sudo make install

3. Install Project Dependencies

sudo apt install -y libyaml-cpp-dev libboost-all-dev libeigen3-dev libspdlog-dev

4. Build & Run on PC2

cd deploy/robots/g1_29dof
mkdir build && cd build
cmake ..
make -j8

# Run (Ensure robot is suspended and in debug mode)
./g1_ctrl --network eth0

Controls:

• L2 + UP: FixStand (Ready)
• R1 + X: Start RL Policy (Velocity)
• LT + LEFT (Hold): Switch to Mimic Mode (Gangnam Style)