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Improbable-AI / walk-these-ways

Sim-to-real RL training and deployment tools for the Unitree Go1 robot.
https://gmargo11.github.io/walk-these-ways/
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Basic Deployment Question #15

Closed dhruvmetha closed 1 year ago

dhruvmetha commented 1 year ago

Hey, I had a basic question regarding the deployment. In the low level mode of the robot, is the robot set to a walking joint configuration when hung in the air, and then placed on the ground for the remote commands to work?

Not sure if this is the right place for this query, if not, I'm sorry and I will drop an email with this question.

gmargo11 commented 1 year ago

Hi @dhruvmetha ,

Before running low-level control mode, I usually follow these steps (from https://github.com/Improbable-AI/walk-these-ways#running-the-controller--):

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

After the robot is in this damping mode and sitting on the ground, then I start the low-level controller. The robot could also be hanging from the support beam when the controller starts.