• Install ROS 2 Humble: Set up a ROS 2 Humble-based algorithm Development Environment on the Ubuntu 22.04 operating system. For installation, please refer to the documentation: https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html, and choose "ros-humble-desktop" for installation. After the installation of ROS 2 Humble is completed, enter the following Shell commands in the Bash end point to install the libraries required by the Development Environment:

  sudo apt update
  sudo apt install ros-humble-urdf \
              ros-humble-urdfdom \
              ros-humble-urdfdom-headers \
              ros-humble-kdl-parser \
              ros-humble-hardware-interface \
              ros-humble-controller-manager \
              ros-humble-controller-interface \
              ros-humble-controller-manager-msgs \
              ros-humble-control-msgs \
              ros-humble-controller-interface \
              ros-humble-gazebo-* \
              ros-humble-rviz* \
              ros-humble-rqt-gui \
              ros-humble-rqt-robot-steering \
              ros-humble-plotjuggler* \
              ros-humble-control-toolbox \
              ros-humble-ros2-control \
              ros-humble-ros2-controllers \
              ros-dev-tools \
              cmake build-essential libpcl-dev libeigen3-dev libopencv-dev libmatio-dev \
              python3-pip libboost-all-dev libtbb-dev liburdfdom-dev liborocos-kdl-dev -y

• Install the onnxruntime dependency, download link:https://github.com/microsoft/onnxruntime/releases/tag/v1.10.0. Please choose the appropriate version to download according to your operating system and platform. For example, on Ubuntu 20.04 x86_64, please follow the steps below for installation:

  wget https://github.com/microsoft/onnxruntime/releases/download/v1.10.0/onnxruntime-linux-x64-1.10.0.tgz
  
  tar xvf onnxruntime-linux-x64-1.10.0.tgz
  
  sudo cp -a onnxruntime-linux-x64-1.10.0/include/* /usr/include
  sudo cp -a onnxruntime-linux-x64-1.10.0/lib/* /usr/lib

You can create an RL deployment development workspace by following these steps:

• Open a Bash terminal.

• Create a new directory to store the workspace. For example, you can create a directory named "limx_ws" in the user's home directory:

  mkdir -p ~/limx_ws/src

• Download the MuJoCo simulator

  cd ~/limx_ws
  
  # Option 1: HTTPS
  git clone --recurse https://github.com/limxdynamics/humanoid-mujoco-sim.git
  
  # Option 2: SSH
  git clone --recurse git@github.com:limxdynamics/humanoid-mujoco-sim.git

• Download the motion control algorithm:

  cd ~/limx_ws
  
  # Option 1: HTTPS
  git clone --recurse https://github.com/limxdynamics/humanoid-rl-deploy-ros2.git
  
  # Option 2: SSH
  git clone --recurse git@github.com:limxdynamics/humanoid-rl-deploy-ros2.git

• Set the robot model: If not set yet, follow these steps.

  • List the available robot types using the Shell command tree -L 1 humanoid-rl-deploy-ros2/robot_controllers/config ：

    cd ~/limx_ws/humanoid-rl-deploy-ros2/src
    tree -L 1 humanoid-rl-deploy-ros2/robot_controllers/config
    humanoid-rl-deploy-ros2/robot_controllers/config
    ├── HU_D03_03
    └── HU_D04_01
    
    

  • Take HU_D04_01 (please replace it with the actual robot type) as an example to set the robot model type:

    echo 'export ROBOT_TYPE=HU_D04_01' >> ~/.bashrc && source ~/.bashrc
    

• Run the MuJoco simulator (Python 3.8 or above is recommended)

  • Open a Bash terminal.

  • Install the motion control development library:

    • Linux x86_64 environment

      cd ~/limx_ws
      pip install humanoid-mujoco-sim/limxsdk-lowlevel/python3/amd64/limxsdk-*-py3-none-any.whl

    • Linux aarch64 environment

      cd ~/limx_ws
      pip install humanoid-mujoco-sim/limxsdk-lowlevel/python3/aarch64/limxsdk-*-py3-none-any.whl

  • Run the MuJoCo simulator:

    cd ~/limx_ws
    python humanoid-mujoco-sim/simulator.py

• Run the algorithm

  • Open a Bash terminal.

  • Navigate to your workspace and complete the compilation:

    # If you have Conda installed, temporarily deactivate the Conda environment
    # Because Conda may interfere with the ROS runtime environment settings
    conda deactivate
    
    # Set up the ROS compilation environment
    source /opt/ros/humble/setup.bash
    
    # Compile the algorithm code
    cd ~/limx_ws/humanoid-rl-deploy-ros2
    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

  • Run the algorithm

    # If you have Conda installed, temporarily deactivate the Conda environment
    # Because Conda may interfere with the ROS runtime environment settings
    conda deactivate
    
    # Set up the ROS compilation environment
    source /opt/ros/humble/setup.bash
    
    # Run the algorithm
    cd ~/limx_ws/humanoid-rl-deploy-ros2
    source install/setup.bash
    ros2 launch robot_hw humanoid_hw_sim.launch.py

    

• Virtual remote controller: You can use a virtual remote controller to operate the robot during simulation. The following are the specific steps to use the virtual remote controller.

  • Open a Bash terminal.

  • Run the virtual remote controller

    ~/limx_ws/humanoid-mujoco-sim/robot-joystick/robot-joystick
    

    

  • At this point, you can use the virtual remote controller to control the robot.

    Button	Mode	Description
    L1+Y	Switch to standing mode	If the robot cannot stand, click "Reset" in the MuJoco interface to reset it.
    L1+B	Switch to greeting mode

• Set your computer's IP: Ensure that your computer is connected to the robot body through an external network port. Set your computer's IP address to: 10.192.1.200, and you can successfully ping 10.192.1.2 using the Shell command ping 10.192.1.2. Set the IP of your development computer as shown in the following figure:

  

• Algorithm compilation:

  # If you have Conda installed, temporarily deactivate the Conda environment
  # Because Conda may interfere with the ROS runtime environment settings
  conda deactivate
  
  # Set up the ROS compilation environment
  source /opt/ros/humble/setup.bash
  
  # Compile the algorithm code
  cd ~/limx_ws/humanoid-rl-deploy-ros2
  colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

• Robot preparation:

  • Hang the robot with the hooks on the left and right shoulders.
  • After turning on the power, press the right joystick button on the remote controller to start the robot's motors.
  • Press the remote controller buttons R1 + DOWN to switch to developer mode. In this mode, users can develop their own motion control algorithms. (This mode will remain effective after the next startup; to exit developer mode, press R1 + LEFT).

• Real machine deployment and operation. In the Bash terminal, simply use the following Shell command to start the control algorithm:

  # If you have Conda installed, temporarily deactivate the Conda environment
  # Because Conda may interfere with the ROS runtime environment settings
  conda deactivate
  
  # Set up the ROS compilation environment
  source /opt/ros/humble/setup.bash
  
  # Run the algorithm
  cd ~/limx_ws/humanoid-rl-deploy-ros2
  source install/setup.bash
  ros2 launch robot_hw humanoid_hw.launch.py

• At this point, you can use the remote controller button L1 + △ to make the robot enter the standing mode.

• Press L1 + 〇 on the remote controller to control the robot to greet.