Is there a specific reason not to run controller on pi instead of Nano?

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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Is there a specific reason not to run controller on pi instead of Nano? #31

Closed ex3ndr closed 1 year ago

ex3ndr commented 1 year ago

Hi! I am trying to figure out how you made this and a little bit puzzled by the need to run locomotion on one of the nanos. Why is that?

gmargo11 commented 1 year ago

Hi @ex3ndr ,

I'm pretty sure it's possible to run our controller from the Pi. You'll just need to install Pytorch and LCM, or rebuild the docker image from a compatible base image. I set up this deployment environment on the Nano because of some other requirements in my research. Specifically, I want to use the camera images for some other tasks, and the cameras on Go1 are connected to the Nano.

-Gabe