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unitree-retarget

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# unitree-retarget

Retarget [mocap data](https://huggingface.co/datasets/unitreerobotics/LAFAN1_Retargeting_Dataset) to Unitree G1

## Installation

Install `unitree_sdk2py`:
```
virtualenv -p /usr/bin/python venv-unitree
. venv-unitree/bin/activate

git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
cd unitree_sdk2_python
git checkout 4eadcf6ba0cc822501ff2f1766be637c0fb7f229
pip3 install -e .
cd -

git clone https://github.com/LambdaLabsML/unitree-retarget.git
cd unitree-retarget
```

## Usage

__Step 1__: Turn on `G1` and put it into debug mode
Make sure `G1` is secured on the harness. Then follow the "Development and debugging video" on [this page](https://support.unitree.com/home/en/G1_developer/quick_start) to put it under the debug mode (on your remote controller, do `R2+L2` then `L2+A`)

__Step 2__: Connect your computer to unitree robot

You can directly connect them using a CAT6 cable, or connect both of them to a router. In both cases, make sure manually set IPv4 address to `192.168.123.222` with mask `255.255.255.0`. This is because `G1` has static a IP `192.168.123.164`, and DHCP won't automatically put your computer under the same subnet.

![Image Description](https://raw.githubusercontent.com/LambdaLabsML/unitree-retarget/main/img/manual_ip.png)

As a sanity check, you should be able to:
* Ping `G1` with `ping 192.168.123.164`
* ssh into it with `ssh unitree@192.168.123.164` and password `123`

__Step 3__: Sanity Check

`python run_check.py`

![Demo](https://raw.githubusercontent.com/LambdaLabsML/unitree-retarget/main/img/sanity.gif)

__Step 4__: Retarget

`python run_retarget.py --mocap_file ./data/g1/dance1_subject2_rev.csv`

![Demo](https://raw.githubusercontent.com/LambdaLabsML/unitree-retarget/main/img/dance.gif)

You can use the following arguments to tune the magnitude of the motion (globally and group-wise):
* `--scale`: global motion scaler. Default `0.5`
* `--scale_arm`: arms, compound onto `--scale`. Default `1.0`.
* `--scale_leg`: legs, compound onto `--scale`. Default `0.5`.
* `--scale_waist`: waist, compund onto `--scale`. Default `0.5`.

Play music
* Upload the music file (e.g. `./music/robot_merge2.wav`) to G1 under `/home/unitree`. 
* Connect the G1 with a speaker (e.g. via the type-c port at its neck).
* Set the default audio output device (sink) to the speaker. You can use `pactl list short sinks` to list the devices, and use `pactl set-default-sink speaker-id` to select the device.
* (Optionally) Run `alsamixer` in the G1 terminal and adjust the volume. After Alsamixer is launched, press F6 to select the output device and use key board to increase/decrease the volume.

`python run_retarget.py --mocap_file ./data/g1/dance1_subject2_rev.csv --music_file robot_merge2.wav --scale_arm 1.25`

__Demo__

```
# Run the above demo
./demo.sh dance

# Kill the music if needed
./demo.sh kill
```

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