unitree-retarget

Retarget mocap data to Unitree G1

Installation

Install unitree_sdk2py:

virtualenv -p /usr/bin/python venv-unitree
. venv-unitree/bin/activate

git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
cd unitree_sdk2_python
git checkout 4eadcf6ba0cc822501ff2f1766be637c0fb7f229
pip3 install -e .
cd -

git clone https://github.com/LambdaLabsML/unitree-retarget.git
cd unitree-retarget

Usage

Step 1: Turn on G1 and put it into debug mode Make sure G1 is secured on the harness. Then follow the "Development and debugging video" on this page to put it under the debug mode (on your remote controller, do R2+L2 then L2+A)

Step 2: Connect your computer to unitree robot

You can directly connect them using a CAT6 cable, or connect both of them to a router. In both cases, make sure manually set IPv4 address to 192.168.123.222 with mask 255.255.255.0. This is because G1 has static a IP 192.168.123.164, and DHCP won't automatically put your computer under the same subnet.

As a sanity check, you should be able to:

• Ping G1 with ping 192.168.123.164
• ssh into it with ssh [email protected] and password 123

Step 3: Sanity Check

python run_check.py

Step 4: Retarget

python run_retarget.py --mocap_file ./data/g1/dance1_subject2_rev.csv

You can use the following arguments to tune the magnitude of the motion (globally and group-wise):

• --scale: global motion scaler. Default 0.5
• --scale_arm: arms, compound onto --scale. Default 1.0.
• --scale_leg: legs, compound onto --scale. Default 0.5.
• --scale_waist: waist, compund onto --scale. Default 0.5.

Play music

• Upload the music file (e.g. ./music/robot_merge2.wav) to G1 under /home/unitree.
• Connect the G1 with a speaker (e.g. via the type-c port at its neck).
• Set the default audio output device (sink) to the speaker. You can use pactl list short sinks to list the devices, and use pactl set-default-sink speaker-id to select the device.
• (Optionally) Run alsamixer in the G1 terminal and adjust the volume. After Alsamixer is launched, press F6 to select the output device and use key board to increase/decrease the volume.

python run_retarget.py --mocap_file ./data/g1/dance1_subject2_rev.csv --music_file robot_merge2.wav --scale_arm 1.25

Demo

# Run the above demo
./demo.sh dance

# Kill the music if needed
./demo.sh kill