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34 lines
1.2 KiB
34 lines
1.2 KiB
#!/bin/bash
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# Launch GR00T-WBC on real G1 robot via GB10
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# Prerequisites:
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# 1. Robot powered on and connected via Ethernet (192.168.123.0/24 subnet)
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# 2. GB10 has 192.168.123.100/24 on enP7s7: sudo ip addr add 192.168.123.100/24 dev enP7s7
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# 3. UFW disabled or allows traffic from 192.168.123.0/24
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# 4. Robot in debug mode (L2+R2 while in damping state on harness) for motor control
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set -e
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cd ~/GR00T-WholeBodyControl
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source .venv/bin/activate
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echo "=== GR00T-WBC Real Robot Launch ==="
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echo ""
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echo "[1/2] Checking network..."
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if ping -c 1 -W 1 192.168.123.161 > /dev/null 2>&1; then
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echo " Locomotion computer (192.168.123.161): OK"
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else
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echo " ERROR: Cannot reach 192.168.123.161"
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echo " Fix: sudo ip addr add 192.168.123.100/24 dev enP7s7"
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exit 1
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fi
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echo "[2/2] Launching GR00T-WBC (real mode)..."
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echo " --interface real (auto-detects enP7s7 via 192.168.123.x)"
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echo " Controls: ] = enable walk, w/s = fwd/back, a/d = strafe, q/e = rotate, z = zero"
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echo " WARNING: Robot must be on harness + debug mode (L2+R2) before enabling walk!"
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echo ""
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export LD_LIBRARY_PATH=/opt/ros/jazzy/lib:$LD_LIBRARY_PATH
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python3 gr00t_wbc/control/main/teleop/run_g1_control_loop.py \
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--interface real \
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"$@"
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