This repository is a modified version of unitree-ros2-dls to work on our aliengo.

Overwiew

This repo connects to many unitree robots using ros2. It uses:

• unitree_ros2 for controlling GO2, A2, B2
• unitree_legged_sdk for Aliengo
• z1_sdk/z1_controller for the Z1 arm.

We add on top of these some messages to be compatible with different dls repositories, like:

• basic-locomotion-isaaclab for RL locomotion
• get-up-isaaclab for RL get-up task
• sim2real-robot-identification for IsaacLab and Mujoco identification
• Quadruped-PyMPC for MPC
• muse for State Estimation

and many others.. Check our github!

Dependencies

Note that if you are using one of our other repos with conda, you will likely have everything you need installed. In that case, just activate that conda env!

1. install miniforge/conda (x86_64 or arm64 depending on your platform) or pixi - the latter for full reproducibility.

2. create an environment using the file in the folder installation by doing:

# for conda
conda env create -f installation/mamba_environment_humble.yaml
conda activate unitree_ros2_humble_env

# for pixi
pixi shell --manifest-path installation/pixi.toml -e humble

Setup Go2, B2, A2

Follow README_unitree_ros2 to install the things needed for GO2, B2 and A2.

Setup Aliengo

Follow README_unitree_legged_sdk to install the things needed for Aliengo.

Setup Z1 arm

Follow README_unitree_z1 to install the things needed for Z1 arm.

How to contribute

PRs are very welcome (search for TODO in the issue, or add what you like)!

Maintainer

This repository is maintained by Giulio Turrisi.