/unitree-go1-setup-guide

Setup guide for the UniTree Go1 robot

Primary LanguagePythonMIT LicenseMIT

UniTree Go1 Setup Guide

Setup guide for the UniTree Go1 robot. Here: https://www.yuque.com/ironfatty/ibngax/sc8u0h

All of the guides are available here [guide].

  • [Setting up Networking]: this guide gives you full interenet access and wifi conectivity on the robot
  • [Deployment]: this guides shows you how to deploy the trained neural controller on the robot
  • [[Training in Isaac Gym]]: this guide shows you how to train a control policy
  • [[Working with LCM and Coms]]: this guide shows you how to add or modify the LCM interface for more controls.

Connecting to Go1

A full version of this is available in the [Setting up Networking guide].

First, you need to configure your connection to join the intranet.

❯ sudo ifconfig en7 down
Password:
❯ sudo ifconfig en7 192.168.123.162/24
❯ sudo ifconfig en7 up

Config Your SSH

The password is 123 the username is unitree.

# inside your ~/.ssh/config
Host go1-pi
    Hostname 192.168.123.161
    User pi
Host go1-nano2gb
    Hostname 192.168.123.13
    User unitree
Host go1-unitree-desktop
    Hostname 192.168.123.14
    User unitree
Host go1-nx
    Hostname 192.168.123.15
    User unitree

Updating the onboard clock

All three computer's internal clocks are off. Wrong system date causes the apt install to report invalid dates (it compares the system date with a cutoff). If you run

unitree@nx:~ $ date
Sun 05 Jun 2022 05:28:03 PM EDT

Here I recommend this super legitimate 🤞, unsanitized script from [The Internet] under sudo:

sudo date -s "$(wget -S  "http://www.google.com/" 2>&1 | grep -E '^[[:space:]]*[dD]ate:' | sed 's/^[[:space:]]*[dD]ate:[[:space:]]*//' | head -1l | awk '{print $1, $3, $2,  $5 ,"GMT", $4 }' | sed 's/,//')"