- This project used the following two packages:
unitree_ros2
andvision4leg
- The unitree_ros2 package comes from Katie Hughes and Nick Morales.
- The Vision4Leg package comes from Mehooz, the official implementation for the paper Learning Vision-Guided Quadrupedal Locomotion End-to-End with Cross-Modal Transformers and Vision-Guided Quadrupedal Locomotion in the Wild with Multi-Modal Delay Randomization.
The execution loop is called in execute_locotransformer.py →executor.execute(EXECUTION_TIME) “Execute” function is defined in control_loop_execution.main_executor In main_executor.execute function: main_execution function is called, this is where robot states, camera frames, and actions are computed; Then in the main_execution function, command is computed and sent using a robot interface The robot_controller thread is started in main_executor.execute function so command can be sent; after starting the thread robot_controller.control_function is called which starts a loop to repeatedly sending computed command