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Deploy to Real Robot

fourier_aurora_sdk provides the robot motion control interface. This article uses the demo_walk (fourier_aurora_sdk/python/example/gr3/demo_walk.py) from this repository as an example to demonstrate the process of deploying RL policies to a real robot using this SDK.

Install Dependencies​

  • The Aurora core and its dependencies are provided via a Docker image, please refer to the Installation Tutorial.
  • fourier_aurora_sdk provides a Python client to deploy policies in the Mujoco simulation environment, please refer to the Installation Tutorial.

Connect a joystick​

This demo requires a connected joystick. The robot’s walking speed is controlled using the joystick.

Start the Container​

Run the following command in the root directory of the fourier_aurora_sdk repository to start the container:

bash docker_run.bash

Note: Please ensure that fourier-aurora and related modules are installed in the Docker image according to the installation guide.

Usage with Real Robot​

Before controlling the real robot, please ensure the following conditions are met:

  • Actuator versions are compatible.
  • Actuators are powered on (the green light of the "system power button" is steady).
  • Network communication is normal (all actuator IPs can be pinged).
  • The robot is in a neutral suspended state.

Start Aurora​

  1. Edit the configuration file config/config.yaml, please make sure the RobotName field is correctly set to "gr3", the HardwareType field is correctly set to "v224", and the RunType field is correctly set to 1 (Real Robot).

  2. Run in the terminal:

    AuroraCore --config config/config.yaml

  3. If started successfully, the terminal will display the following information:

    [info] FSM state run, enter "Default" mode by default

Using Python Client​

  1. Enter the Python virtual environment with fourier_aurora_client installed:

    conda activate your_env_name

  2. The model trained by fourier_lab is located at fourier_aurora_sdk/python/example/gr3/policy_jit.pt. Run the deployment demo:

    cd fourier_aurora_sdk/python/example/gr3
    python3 demo_walk.py

Expected Results​

Run the demo, the terminal prompts to press the Enter key to switch to the PD Stand Task.

After entering the PD Stand Task, lower the suspension rope to let the robot stand on the ground, and press the Enter key to switch to the user command mode.

Once in user command mode, you can control the robot’s walking with the controller joysticks.

The left joystick (vertical axis) controls forward and backward movement.

The left joystick (horizontal axis) controls lateral (sideways) movement.

The right joystick (horizontal axis) controls yaw (rotation).

Note: This demo is only used as an example of interface calling. The provided policy does not guarantee that the robot can walk stably.

Please be sure to take safety protection measures when running it on the real machine!