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https://github.com/AgibotTech/agibot_x1_infer
The inference module for AgiBot X1.
https://github.com/AgibotTech/agibot_x1_infer
inference open-source robotics
Last synced: about 1 month ago
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The inference module for AgiBot X1.
- Host: GitHub
- URL: https://github.com/AgibotTech/agibot_x1_infer
- Owner: AgibotTech
- License: other
- Created: 2024-10-23T02:36:22.000Z (3 months ago)
- Default Branch: main
- Last Pushed: 2024-10-25T10:01:17.000Z (3 months ago)
- Last Synced: 2024-10-26T21:03:33.273Z (3 months ago)
- Topics: inference, open-source, robotics
- Language: C++
- Homepage: https://www.zhiyuan-robot.com/products/X1
- Size: 42.4 MB
- Stars: 731
- Watchers: 7
- Forks: 224
- Open Issues: 4
-
Metadata Files:
- Readme: README.md
- License: LICENSE.txt
Awesome Lists containing this project
- awesome-ai-robotics - **agibot_x1_infer** - The inference module for AgiBot X1. (Humanoid / Robot)
- awesome-ai-robotics - **agibot_x1_infer** - The inference module for AgiBot X1. (Humanoid / Robot)
README
# Readme
English | [中文](README.zh_CN.md)
## Introduction
[AgiBot X1](https://www.zhiyuan-robot.com/qzproduct/169.html) is a modular humanoid robot with high dof developed and open-sourced by AgiBot. It is built upon AgiBot's open-source framework AimRT as middleware and using reinforcement learning for locomotion control.
This project is about the accompanying software for AgiBot X1, including multiple functional modules such as model inference, platform driver, and software simulation.
For detailed tutorials on `AimRT` framework, please visit the [AimRT official website](https://aimrt.org/).
## Software Architecture Diagram
For detailed annotations of modules, please refer to the [Development Guide](doc/tutorials.md).
## Directory Structure
```bash
.
├── build.sh # Build scripts
├── cmake # CMake scripts for build dependencies
│ ├── GetAimRT.cmake
│ ├── GetGTest.cmake
│ └── NamespaceTool.cmake
├── CMakeLists.txt # Top-level CMakeLists.txt
├── format.sh # Formatting scripts
├── README.md # README document
├── doc # Development guide directory
├── src # Source code directory
│ ├── CMakeLists.txt # CMakeLists.txt for the source code directory
│ ├── assistant # ROS2 simulation and example project directory
│ ├── install # Configuration script directory
│ ├── module # Module directory
│ ├── pkg # Deployment directory
│ └── protocols # Protocol directory
└── test.sh # Testing scripts
```
## Running Instructions
### Preparation for Launch
- Install [cmake](https://cmake.org/download/) (version 3.26 or above).
- Install [ONNX Runtime](https://github.com/microsoft/onnxruntime).
```bash
sudo apt update
sudo apt install -y build-essential cmake git libprotobuf-dev protobuf-compiler
git clone --recursive https://github.com/microsoft/onnxruntime
cd onnxruntime
./build.sh --config Release --build_shared_lib --parallel
cd build/Linux/Release/
sudo make install
```
- Install `ROS2 Humble` and configure the environment variables. For detailed instructions, visit the [ROS2 official website](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html).
- Install dependencies for the simulation environment.
```bash
sudo apt install jstest-gtk \
ros-humble-xacro \
ros-humble-gazebo-ros-pkgs \
ros-humble-gazebo-ros2-control \
ros-humble-joint-state-publisher \
ros-humble-joint-state-broadcaster \
```
- Install the Linux [realtime kernel patch](https://wiki.linuxfoundation.org/realtime/start) if real-robot debugging is needed.
*It will be very slow or even fail to download AimRT's numerous dependencies from default sources. Therefore, we provide environment variables `DOWNLOAD_FLAGS` for the download based on the Gitee source in `url.bashrc`. Simply source `url.bashrc` before running `build.sh` and add environment variable parameters for the Gitee source.*
After completing the above steps, execute the following commands in the terminal:
```bash
source /opt/ros/humble/setup.bash
source url.bashrc
# Build
./build.sh $DOWNLOAD_FLAGS
# Test
./test.sh $DOWNLOAD_FLAGS
```
### Launch Simulation
Prepare two terminals:
```bash
cd build/
# Terminal 1: Launch the inference module and joystick control module in simulation mode.
./run_sim.sh
# Terminal 2: Launch the Gazebo simulation program.
./run_gazebo.sh
```
### Launch on Real Robot
Export your library path first, **just need to execute once**.
```bash
# Open "/etc/ld.so.conf" as root
sudo vi /etc/ld.so.conf
# Add this path to the end of "/etc/ld.so.conf"
/opt/ros/humble/lib
{YourProjectSource}/build/install/lib
# Refresh system env
sudo ldconfig
```
Ready to launch.
```bash
cd build/
./run.sh
```
### Joystick Control
For specific control instructions, please refer to the [Joystick Control Module](doc/joy_stick_module/joy_stick_module.md).
## License Agreement
The code provided in this project runs on the [AimRT](https://aimrt.org/) framework. This is research code subject to frequent changes, and cannot apply to all specific purposes. The source code is released under the [MULAN](https://spdx.org/licenses/MulanPSL-2.0.html) license agreement.
## Usage Instructions
If you have any questions or issues with this repository, please use the `Issues`.
Please do not contact us via email as we may not be able to respond. If you would like to contribute code, simply fork the repository (or if you are a collaborator, create a branch), make your changes, and submit a pull request to us.