diff --git a/README.md b/README.md index eab2e87..6655399 100644 --- a/README.md +++ b/README.md @@ -46,13 +46,13 @@ npm -v Set up the development repository and install dependencies. ```bash -$ cd -$ npm install -$ npm run build +cd +npm install +npm run build ``` Then you can build and serve the documentation locally. ```bash -$ npm run start +npm run start ``` \ No newline at end of file diff --git a/robot/humanoid/g1.md b/robot/humanoid/g1.md index a236f28..177bf4b 100644 --- a/robot/humanoid/g1.md +++ b/robot/humanoid/g1.md @@ -12,7 +12,7 @@ The G1 is a humanoid robot that stands 130 cm tall and weighs 35 kg. It comes eq ## 2. Specifications -### 2.2 Electrical Interfaces +### 2.1 Electrical Interfaces ![](../img/unitree/G1_electrical_interfaces.jpg) @@ -20,9 +20,9 @@ The G1 is a humanoid robot that stands 130 cm tall and weighs 35 kg. It comes eq > **Note**: There are many ways to operate NVIDIA GPIO, refer to this [link](https://docs.nvidia.com/jetson/archives/r35.2.1/DeveloperGuide/text/HR/JetsonModuleAdaptationAndBringUp/JetsonOrinNxSeries.html#identifying-the-gpio-number) for the definition. -### 2.3 On-board Computer +### 2.2 On-board Computer -G1 Edu has 2 onboard computers: +G1 Edu has 2 built-in computers: - Operation & Control computing unit (Not accessible to public) - IP: 192.168.123.161 @@ -30,16 +30,33 @@ G1 Edu has 2 onboard computers: - User development computing unit - IP: 192.168.123.164 - Username: unitree - - Password: Unitree0408 + - Password: 123 ## 3. Resources -### Basic Guides +* **Training Slides**: [G1 Basic Training](https://tangrobot.sharepoint.com/:b:/s/Public-Outgoing/EYW7e2v3tL1DtCeW-HGdQo8BlBn-CkYQve05OhJDlS7xcA?e=5kJQpt) +* **Unitree Support Page**: [Unitree](https://support.unitree.com/home/en/G1_developer) +* **C++ SDK**: [unitree_sdk2](https://github.com/unitreerobotics/unitree_sdk2) +* **Python SDK**: [unitree_sdk2_python](https://github.com/unitreerobotics/unitree_sdk2_python) +* **ROS2 Package**: [unitree_ros2](https://github.com/unitreerobotics/unitree_ros2) +* **G1 App, Robot Features, Tutorial Videos, Manuals**: [G1 Features](https://www.unitree.com/app/g1) +* **Other Information**: [URDF/CAD](https://support.unitree.com/home/en/G1_developer/get_sdk) +* **Tutorials Page**: [Guides](/tutorial/intro) -* G1 Manual: [Unitree](https://support.unitree.com/home/en/G1_developer) -* Training Slides: [G1 Basic Training](https://tangrobot.sharepoint.com/:b:/s/Public-Outgoing/EYW7e2v3tL1DtCeW-HGdQo8BlBn-CkYQve05OhJDlS7xcA?e=5kJQpt) +## 4. FAQ -### Development +1. **Can the robot stand on its own?** + A: From a lying position, the G1 can stand on its own. However, this mode is not recommended as it may damage the joints from excessive use and the robot may fall on smooth floors. It is recommended to have the robot stand from a seated or hanging position instead. -* SDK Support: [unitree_sdk2](https://github.com/unitreerobotics/unitree_sdk2) -* ROS2 Support: [unitree_ros2](https://github.com/unitreerobotics/unitree_ros2) +2. **Q: Does the robot support wireless development?** + A: The robot's internal development PC can connect to WiFi networks for internet access (see [G1 Internet Access Guide](/tutorial/unitree/g1_internet_guide)), but it does not support wireless development. + +3. **Q: Is the robot waterproof?** + A: No, the G1 is not waterproof. + +4. **Q: How often do I need to lubricate the joints?** + A: If you encounter motor issues, stiffness or loosening of joints, please contact [Weston Robot Support Team](https://forms.office.com/pages/responsepage.aspx?id=NTNVCC0zFkWzGo_3Vcs_4KxdsbBJKHVIkFlOJLtAMMlUQkJZMU8wM1EyTkRUVUJCVzA2WVdQNzBSMCQlQCN0PWcu&route=shorturl). + The *Serial Number (SN)* of the robot is located in the battery compartment. The SN (and the *Model*) can also be found in the app in `Device -> Robot Settings`. + +5. **Q: What happens when the robot rolls over/falls and does not respond to remote control commands?** + A: Check and screenshot the mobile app for any warnings or errors displayed. Power off the robot and carry the robot to a flat and levelled ground. Inspect the robot for any damages (e.g., loose/damaged wiring). Please contact [Weston Robot Support Team](https://forms.office.com/pages/responsepage.aspx?id=NTNVCC0zFkWzGo_3Vcs_4KxdsbBJKHVIkFlOJLtAMMlUQkJZMU8wM1EyTkRUVUJCVzA2WVdQNzBSMCQlQCN0PWcu&route=shorturl) if the robot is unable to be powered on or start up. diff --git a/robot/img/unitree/Go2_electrical_interfaces.png b/robot/img/unitree/Go2_electrical_interfaces.png new file mode 100644 index 0000000..447f91d Binary files /dev/null and b/robot/img/unitree/Go2_electrical_interfaces.png differ diff --git a/robot/img/unitree/Go2_expansion_dock_specs.png b/robot/img/unitree/Go2_expansion_dock_specs.png new file mode 100644 index 0000000..bf23112 Binary files /dev/null and b/robot/img/unitree/Go2_expansion_dock_specs.png differ diff --git a/robot/img/unitree/Go2_simcard_slot.png b/robot/img/unitree/Go2_simcard_slot.png new file mode 100644 index 0000000..d5fad58 Binary files /dev/null and b/robot/img/unitree/Go2_simcard_slot.png differ diff --git a/robot/intro.md b/robot/intro.md index 30a8817..a3e94b8 100644 --- a/robot/intro.md +++ b/robot/intro.md @@ -69,7 +69,7 @@ You can find more detailed information about each robot model in the navigation
H1-2 robot -

B2

+

H1-2

diff --git a/robot/quadruped/b2.md b/robot/quadruped/b2.md index 0d66a9c..592ac18 100644 --- a/robot/quadruped/b2.md +++ b/robot/quadruped/b2.md @@ -3,6 +3,8 @@ sidebar_position: 2 --- import B2_IMG from '../img/unitree/B2_robot.png'; +import B2_4PIN_IMG from '../img/unitree/B2_4_pin.png'; +import B2_10PIN_IMG from '../img/unitree/B2_10_pin.png'; # B2 @@ -10,27 +12,254 @@ import B2_IMG from '../img/unitree/B2_robot.png'; B2 robot -## 2. Resources +The B2 is Unitree's industrial-grade quadruped robot designed for commercial and professional applications and weighs 60 kg with IP67 rating. Built with enhanced durability and weatherproofing capabilities, with its robust construction and intelligent sensing systems, the B2 excels in challenging environments where reliability and performance are critical, making it ideal for inspection, surveillance, and industrial automation tasks. -* **Manual**: [Unitree B2 Manual](https://support.unitree.com/home/en/B2_developer/About%20B2) -* **Training Slides**: [B2 Customer Training](https://tangrobot.sharepoint.com/:p:/s/Public-Outgoing/Ef2w_exJ67hLi1Xqsv0VjosBtS1pz0ZjTdHZcyOrTAc-mA?e=XiMFoT) +## 2. Specifications + +### 2.1 Electrical Interfaces + +![](../img/unitree/B2_electrical_interfaces.png) + +#### User Interface Module Power Parameters + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
InterfaceParameterSpecification
USB Interface (TYPE-C)

Note: This interface is powered from the PC processor in + B2's abdomen and shares power with the TYPE-C interface + of the B2 abdominal processor.		1. Total USB output current3A
2. Current limit per USB port1.5A
24V Power Interface (2+2PIN)1. Total 24V output rating10A
2. Total 24V output overload protection15A slow-blow fuse (one-time)
3. Total 24V output overcurrent protectionTrigger at 24A, reset at 16A (hiccup self-recovery)
4. Current distribution per 24V interfaceNone (internal wiring is parallel, sharing one power supply)
12V Network Interface (2+8PIN)

Note: This interface shares power with the B2 abdominal processor. The parameters listed below are the overall internal power parameters.		1. Total 12V output rating10A
2. Total 12V output overload protection15A slow-blow fuse (one-time)
3. Total 12V output overcurrent protectionTrigger at 24A, reset at 16A (hiccup self-recovery)
4. Current distribution per 12V interfaceNone (internal wiring is parallel, sharing one power supply)
+ +
+ B2 4-Pin +
+ +#### (2+2) Power Line Interface + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
PinColourSpecification
1Black (14AWG)Power-
2Red (24AWG)485A-
3Black (24AWG)485B-
4Red (14AWG)Power+
+ +
+ B2 10-Pin +
+ +#### (8+2) Signal Line Interface + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
PinColourSpecificationT568 Standard Ethernet Cable
1BlackPower--
2Orange4NBrown
3Purple4PWhite Brown
4Brown1PWhite Orange
5Blue1NOrange
6White3NBlue
7Green3PWhite Blue
8Pink2NGreen
9Grey2PWhite Green
10RedPower+(12V)-
-Deep Bluenone-
-Yellownone-
+ + +### 2.2 On-board Computer + +B2 has a maximum of 5 built-in computers: + +- Operation & SLAM unit (Not accessible to public) + - PC1 IP: 192.168.123.161 + - PC2 IP: 192.168.123.162 + +- User development computing units + - PC3 IP: 192.168.123.163 + - PC4 IP: 192.168.123.164 + - PC5 IP: 192.168.123.165 + - Username: unitree + - Password: Unitree0408 +> **Note**: PC3 uses an Intel i7 processor. PC4 & PC5 can be configured with either Intel i7 (x86) or Orin NX (ARM) processors. x86 computers have 512GB of storage while ARM computers have 2TB of storage. The PCs run Ubuntu 20.04 (newer models run Ubuntu 22.04). + +## 3. Resources + +* **Training Slides**: [B2 Training](https://tangrobot.sharepoint.com/:p:/s/Public-Outgoing/Ef2w_exJ67hLi1Xqsv0VjosBtS1pz0ZjTdHZcyOrTAc-mA?e=XiMFoT) +* **Unitree Support Page**: [Unitree](https://support.unitree.com/home/en/B2_developer/About%20B2) * **C++ SDK**: [unitree_sdk2](https://github.com/unitreerobotics/unitree_sdk2) +* **Python SDK**: [unitree_sdk2_python](https://github.com/unitreerobotics/unitree_sdk2_python) * **ROS2 Package**: [unitree_ros2](https://github.com/unitreerobotics/unitree_ros2) +* **B2 App, Robot Features, Tutorial Videos, Manuals**: [B2 Features](https://www.unitree.com/app/b2) * **User Interface Module CAD**: [B2 User Interface Module STEP](https://tangrobot.sharepoint.com/:u:/s/ProductDevelopment/EaH5OYxj8glKjJ10s0Xm2ooBU7ncVzAkqjGGkULEB9O_jA?e=uJayCQ) +* **Other Information**: [URDF/CAD](https://support.unitree.com/home/en/B2_developer/Obtain%20SDK) +* **Tutorials Page**: [Diagnostic Guide](/tutorial/intro) + +## 4. FAQ + +1. **Can the ports on the side of the B2 be used?** + A: Yes, the ports on the side of the B2 robot are accessible for use. However, we strongly recommend using the ports located on the User Interface Module whenever possible. While the B2 has an IP67 rating when properly sealed, using the side ports may require opening protective covers which could temporarily compromise the robot's waterproof capabilities during operation. Users should be familiar with the different ports and proper sealing procedures before using them. + +2. **What is the default speed of the B2 in AI mode?** + A: The default is Low speed. Double click L1 to switch to High Speed. -## 3. FAQ +3. **Can the RealSense cameras on the B2 be used for secondary development?** + A: No, the RealSense cameras on the B2 robot are currently not accessible for users to directly control or integrate into their own development projects. These cameras are primarily used by the manufacturer to power the robot's built-in perception features. -* **Can the ports on the side of the B2 be used?** - - Yes, the ports on the side of the B2 robot are accessible for use. However, we strongly recommend using the ports located on the User Interface Module whenever possible. This is because using the side ports could compromise the robot's waterproof capabilities. Users are urged to be familiar of the different ports before using them. +4. **Can the contact charger be used outdoors?** + A: This contact charger is designed for indoor use. Avoid using it in wet or humid environments to prevent the risk of short circuits. Moisture can damage the charger and potentially pose a safety hazard. -* **What is the default speed of the B2 in AI mode?** - - The default is Low speed. Double click L1 to switch to High Speed. +5. **What does first foot control and second foot control represent?** + A: First Foot control represents Normal mode, while Second Foot control represents AI mode. When switched on, the B2 is in AI mode (Second Foot control) by default. -* **Can the RealSense cameras on the B2 be used for secondary development?** - - No, the RealSense cameras on the B2 robot are currently not accessible for users to directly control or integrate into their own development projects. These cameras are primarily used by the manufacturer to power the robot's built-in perception features. +6. **Q: Does the robot support wireless development?** + A: Currently, the robot does not support wireless connection to internal computers. -* **Can the contact charger be used outdoors?** - - This contact charger is designed for indoor use. Avoid using it in wet or humid environments to prevent the risk of short circuits. Moisture can damage the charger and potentially pose a safety hazard. +7. **Q: How often do I need to lubricate the joints?** + A: If you encounter motor issues, stiffness or loosening of joints, please contact [Weston Robot Support Team](https://forms.office.com/pages/responsepage.aspx?id=NTNVCC0zFkWzGo_3Vcs_4KxdsbBJKHVIkFlOJLtAMMlUQkJZMU8wM1EyTkRUVUJCVzA2WVdQNzBSMCQlQCN0PWcu&route=shorturl). + The *Serial Number (SN)* of the robot is located in the battery compartment. The SN (and the *Model*) can also be found in the app in `Device -> Robot Settings`. -* **What does first foot control and second foot control represent?** - - First Foot control represents Normal mode, while Second Foot control represents AI mode. When switched on, the B2 is in AI mode (Second Foot control) by default. +8. **Q: What happens when the robot rolls over/falls and does not respond to remote control commands?** + A: If the `Recover From Fall` command does not work or it is unsafe to do so, check and screenshot the mobile app for any warnings or errors displayed. Power off the robot and carry the robot to a flat and levelled ground. Inspect the robot for any damages (e.g., loose/damaged wiring). Please contact [Weston Robot Support Team](https://forms.office.com/pages/responsepage.aspx?id=NTNVCC0zFkWzGo_3Vcs_4KxdsbBJKHVIkFlOJLtAMMlUQkJZMU8wM1EyTkRUVUJCVzA2WVdQNzBSMCQlQCN0PWcu&route=shorturl) if the robot is unable to be powered on or start up. \ No newline at end of file diff --git a/robot/quadruped/go2.md b/robot/quadruped/go2.md index 54497eb..2215ad7 100644 --- a/robot/quadruped/go2.md +++ b/robot/quadruped/go2.md @@ -4,24 +4,78 @@ sidebar_position: 1 import GO2_IMG from '../img/unitree/Go2_robot.png'; -# GO2 +# Go2 ## 1. Overview Go2 robot -The Go2 robot dog is a new and improved intelligent bionic quadruped robot empowered with AI. The Go2 has Unitree's self-developed 4D LIDAR L1 with 360°x90° hemispherical ultra-wide recognition to make Go2 traverse complex terrain. +The Go2 robot dog is a new and improved intelligent bionic quadruped robot empowered with AI and weighs 15 kg. The Go2 has Unitree's self-developed 4D LIDAR L1 with 360°x90° hemispherical ultra-wide recognition to make Go2 traverse complex terrain. -## 2. Resources +## 2. Specifications -* User Guide: [Go2 User Guide](https://tangrobot.sharepoint.com/:p:/s/Public-Outgoing/ESCOlfuKT5lPkwCnOFUoYbwB5Jr5o4meAyXd2lpGB09W5w?e=ixXe5e) -* Go2 Manual: [Unitree](https://support.unitree.com/home/en/developer/about%20Go2) -* Expansion Dock Reflash Guide: [PDF](https://tangrobot.sharepoint.com/:b:/s/Public-Outgoing/EcQ3PHojLhZBsDg1oBpvPPIBWyJiSJPyAZMsk91ZnXbBJg?e=YaKBgf) +### 2.1 Electrical Interfaces -## 3. FAQ +![](../img/unitree/Go2_expansion_dock_specs.png) +> **Note**: The expansion dock module is only available for the Go2 Edu and not compatible with Go2 Air or Go2 Pro. + +![](../img/unitree/Go2_electrical_interfaces.png) +> **Note**: The output power interface voltage is from the battery. + + +### 2.2 On-board Computer + +Go2 Edu has 1 built-in computer and 1 onboard computer (expansion dock module): + +- Operation & Control computing unit (Not accessible to public) + - IP: 192.168.123.161 + +- Expansion dock module + - IP: 192.168.123.18 + - Username: unitree + - Password: 123 + +## 3. Resources + +* **User Guide**: [Go2 User Guide](https://tangrobot.sharepoint.com/:p:/s/Public-Outgoing/ESCOlfuKT5lPkwCnOFUoYbwB5Jr5o4meAyXd2lpGB09W5w?e=ixXe5e) +* **Unitree Support Page**: [Unitree](https://support.unitree.com/home/en/developer/about_Go2) +* **Payload Mounting**: [Guide](https://support.unitree.com/home/en/developer/Payload) +* **C++ SDK**: [unitree_sdk2](https://github.com/unitreerobotics/unitree_sdk2) +* **Python SDK**: [unitree_sdk2_python](https://github.com/unitreerobotics/unitree_sdk2_python) +* **ROS2 Package**: [unitree_ros2](https://github.com/unitreerobotics/unitree_ros2) +* **Go2 App, Robot Features, Tutorial Videos, Manuals**: [Go2 Features](https://www.unitree.com/app/go2) +* **Other Information**: [URDF/CAD](https://support.unitree.com/home/en/developer/Obtain%20SDK) +* **Tutorials Page**: [Diagnostic Guide](/tutorial/intro) + +## 4. FAQ 1. **Q: What is account insufficient?** A: Each new GO2 comes with a complimentary RMB120 credit, which can be utilized for data transfer and GPT services. Consult the **Connection Mode** table to determine which connection modes will utilize this credit. When the account balance is insufficient, the GO2 can only be connected via AP mode. 2. **Q: How can I recharge my account when the credit is insufficient?** - A: Please contact Weston Robot business team for more information. + A: Please contact [Weston Robot Support Team](https://forms.office.com/pages/responsepage.aspx?id=NTNVCC0zFkWzGo_3Vcs_4KxdsbBJKHVIkFlOJLtAMMlUQkJZMU8wM1EyTkRUVUJCVzA2WVdQNzBSMCQlQCN0PWcu&route=shorturl) for more information. + +3. **Q: How often do I need to lubricate the joints?** + A: If you encounter motor issues, stiffness or loosening of joints, please contact [Weston Robot Support Team](https://forms.office.com/pages/responsepage.aspx?id=NTNVCC0zFkWzGo_3Vcs_4KxdsbBJKHVIkFlOJLtAMMlUQkJZMU8wM1EyTkRUVUJCVzA2WVdQNzBSMCQlQCN0PWcu&route=shorturl). + The *Serial Number (SN)* of the robot is located in the battery compartment. The SN (and the *Model*) can also be found in the app in `Device -> Robot Settings`. + +4. **Q: How do I reflash the Expansion Dock?** + A: Expansion Dock Reflash Guide: [PDF](https://tangrobot.sharepoint.com/:b:/s/Public-Outgoing/EcQ3PHojLhZBsDg1oBpvPPIBWyJiSJPyAZMsk91ZnXbBJg?e=YaKBgf) + +5. **Q: Does the robot support wireless development?** + A: Currently, the robot does not support wireless connection to internal computers. + +6. **Q: Does the robot support 4G?** + A: Yes, users may insert the their desired SIM card into the SIM card slot![](../img/unitree/Go2_simcard_slot.png) + +7. **Q: Is the robot waterproof?** + A: No, the Go2 is not waterproof. + +8. **Q: Why does the robot enter into damping mode suddenly?** + A: The robot will enter into damping mode when the motors overheat. Do not use the locked stand mode for extended periods as it will cause the motors to overheat. + +9. **Q: Does the robot have follow-me function?** + A: Yes, please refer to [usage guide](https://support.unitree.com/home/en/developer/UWB%20Application) and [Accompanying Mode video](https://www.unitree.com/app/go2). + +10. **Q: What happens when the robot rolls over/falls and does not respond to remote control commands?** + A: If the `Recover From Fall` command does not work or it is unsafe to do so, check and screenshot the mobile app for any warnings or errors displayed. Power off the robot and carry the robot to a flat and levelled ground. Inspect the robot for any damages (e.g., loose/damaged wiring). Please contact [Weston Robot Support Team](https://forms.office.com/pages/responsepage.aspx?id=NTNVCC0zFkWzGo_3Vcs_4KxdsbBJKHVIkFlOJLtAMMlUQkJZMU8wM1EyTkRUVUJCVzA2WVdQNzBSMCQlQCN0PWcu&route=shorturl) if the robot is unable to be powered on or start up. diff --git a/sidebars-tutorial.ts b/sidebars-tutorial.ts index efa6211..25865dc 100644 --- a/sidebars-tutorial.ts +++ b/sidebars-tutorial.ts @@ -19,6 +19,14 @@ const sidebarsTutorial: SidebarsConfig = { 'unitree/g1_internet_guide' ], }, + { + type: 'category', + label: 'Quadruped Tutorials', + items: [ + 'unitree/go2_diag_guide', + 'unitree/b2_diag_guide' + ], + }, ], }; diff --git a/tutorial/intro.md b/tutorial/intro.md index f7bf7aa..8fdfca6 100644 --- a/tutorial/intro.md +++ b/tutorial/intro.md @@ -10,8 +10,13 @@ In addition to the resource provided on the product pages, we also prepare more * [UGV Robot Base Control Guide](agilex/ugv_base_control) -## Unitree Legged Robots +## Unitree Humanoid Robots * [G1 Development Guide](unitree/g1_dev_guide) * [G1 Diagnostics Guide](unitree/g1_diag_guide) * [G1 Internet Connection Guide](unitree/g1_internet_guide) + +## Unitree Quadruped Robots + +* [Go2 Diagnostics Guide](unitree/go2_diag_guide) +* [B2 Diagnostics Guide](unitree/b2_diag_guide) diff --git a/tutorial/unitree/b2_diag_guide.md b/tutorial/unitree/b2_diag_guide.md new file mode 100644 index 0000000..2094e48 --- /dev/null +++ b/tutorial/unitree/b2_diag_guide.md @@ -0,0 +1,135 @@ +--- +sidebar_position: 2 +--- + +import B2_APP_CONN_01_IMG from './img/b2_app_conn_01.jpg'; +import B2_APP_CONN_02_IMG from './img/b2_app_conn_02.jpg'; +import B2_APP_CONN_03_IMG from './img/g1_app_conn_03.jpg'; +import B2_APP_CONN_04_IMG from './img/g1_app_conn_04.jpg'; +import B2_APP_CONN_05_IMG from './img/g1_app_conn_05.jpg'; +import B2_APP_CONN_06_IMG from './img/g1_app_conn_06.jpg'; +import B2_STARTUP_IMG from './img/b2_startup_position.png'; +import GO2_CALIBRATION_IMG from './img/quadruped_calibration.png'; +import GO2_SN_IMG from './img/unitree_robot_sn.png'; + +# B2 Diagnostics Guide + +The B2 robot is a sophisticated quadruped system with 12 degrees of freedom, designed for industrial and commercial applications. Composed of multiple integrated components including sensors, actuators, and control software. Malfunctions can arise from either hardware faults or software anomalies. When the robot does not behave as expected, it is essential to first isolate and identify the root cause. This guide provides instructions for performing initial diagnostics and gathering key information that can be shared with our support team to facilitate effective troubleshooting and assistance. + +## Behavior Analysis & Inspection + +When the robot does not behave as expected, the first step is to carefully observe its behavior and conduct a visual inspection. We strongly recommend setting up a dedicated workspace with continuous video recording (e.g., surveillance cameras). This is especially useful for capturing intermittent or unpredictable issues that may occur when you're not actively monitoring the system. + +If the event was not recorded, you can still examine the robot post-incident for signs of malfunction. Begin with a thorough visual inspection focused on the following areas: + +* **Robot Body**: Check for any visible damage, such as cracks, dents, or impact marks that may indicate collisions or falls. +* **Sensors**: Ensure all sensors are clean, unobstructed, firmly mounted, and properly connected. Dust or misalignment can cause degraded performance. +* **Cables and Connectors**: Inspect for loose plugs, frayed wires, or damaged insulation. Confirm that all connections are secure and seated properly. +* **Battery**: Look for signs of swelling, leakage, or deformation. Ensure the battery is correctly installed and shows no abnormal wear. + +## Mobile App Diagnostics Data + +You may also use the Unitree mobile app to check the robot's diagnostic information. You can download the Unitree mobile app with the QR code on [this page](https://www.unitree.com/app/b2): + +![](./img/b2_app_download.png) + +To acquire the robot's diagnostic information, you need to connect your mobile device to the robot first. B2 supports both AP mode and Wi-Fi mode. Unitree provides [tutorial videos](https://www.unitree.com/app/b2) for adding B2 and using app features. The following screenshots quickly guide you through the process of connecting to the robot using AP mode. + +
+
+
+ Select Robot +

Step 1. Select the Robot

+
+
+
+
+ AP or Wi-Fi +

Step 2. Choose AP Mode

+
+
+
+
+
+
+ Create Network +

Step 3. Create the Robot's AP Password

+
+
+
+
+ B2 robot +

Step 4. Wait for AP Creation

+
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+
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+
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+ B2 robot +

Step 5. Connect Device to the Robot's AP

+
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+ B2 robot +

Step 6. Wait for Successful Connection

+
+
+
+ +Once connected, you can access the robot's diagnostic information by navigating to `Device`->`Data`: + +| | | +| ------------------------------------- | --------------------------------------- | +| ![Left Top](./img/g1_app_robot_data_01.jpg) | ![Middle Top](./img/g1_app_robot_data_02.jpg) | + +### Robot Alarm Information + +![](./img/g1_alarm_info.jpg) + +### Robot Motor Information + +| | | +| ------------------------------------- | --------------------------------------- | +| ![Left Top](./img/go2_motor_information_01.jpg) | ![Middle Top](./img/go2_motor_information_02.jpg) | +| ![Left Bottom](./img/go2_motor_information_03.jpg) | ![Middle Bottom](./img/go2_motor_information_04.jpg) | +| ![Left Bottom](./img/go2_motor_information_05.jpg) | + +## General Troubleshooting +This guide provides general instructions to troubleshoot, identify, and resolve common issues. + +1. **Initial Startup Position** + Ensure the robot is in this position prior to startup. + B2 startup position + 1. Place the robot onto a flat and levelled ground. + 2. Ensure each leg joint is hand closed as shown in the image above. + 3. Ensure 2 points of contact for each leg. + +2. **Using Mobile App for Diagnostic Check** + After binding the robot to your account, check for any warnings, errors, or potential signs of failure in the app. + - Calibrate the **IMU** and **motors** only when deemed necessary *(e.g., robot unable to walk in a straight line, limping, or tilted)*. Refer to the [official tutorial videos](https://www.unitree.com/app/b2). + B2 calibration + + - Adjust the payload configuration [`Device`->`Data`] if additional components or devices are mounted onto the robot. + +3. **Hardware Check** + - Replace any foot pads with bald spots or excessive wear. + - Move each joint through its range of motion. + - Listen for any unusual sounds that may indicate mechanical issues. + +## Reporting the Issue + +When reaching out to our support team, please provide a structured and detailed account of the problem. Please consider the following questions when reporting the issue: + +* What actions or commands were executed just before the issue occurred? +* How did the robot behave during and immediately after the incident? +* Were there any error messages, warning tones, or abnormal movements? (*Alarms may be reset when the robot is restarted.*) +* Are there any visible signs of physical damage or wear? + +Please attach screenshots taken from the mobile app, including diagnostic data and alarm information. If available, include relevant video footage. This helps us understand and reproduce the issue more effectively. + +Understanding and documenting the issue clearly will help prevent further damage and ensure safe continuation of your development or testing efforts. + +***Note**: Serial Number of the B2 robot is located in the battery compartment and through the app.* +B2 SN \ No newline at end of file diff --git a/tutorial/unitree/g1_diag_guide.md b/tutorial/unitree/g1_diag_guide.md index d6e6adc..b5ec03d 100644 --- a/tutorial/unitree/g1_diag_guide.md +++ b/tutorial/unitree/g1_diag_guide.md @@ -6,8 +6,9 @@ import G1_APP_CONN_01_IMG from './img/g1_app_conn_01.jpg'; import G1_APP_CONN_02_IMG from './img/g1_app_conn_02.jpg'; import G1_APP_CONN_03_IMG from './img/g1_app_conn_03.jpg'; import G1_APP_CONN_04_IMG from './img/g1_app_conn_04.jpg'; -import G1_APP_CONN_05_IMG from './img/g1_app_conn_05.jpg'; +import G1_APP_CONN_05_IMG from './img/g1_app_conn_05.jpg'; import G1_APP_CONN_06_IMG from './img/g1_app_conn_06.jpg'; +import G1_SN_IMG from './img/unitree_robot_sn.png'; # G1 Diagnostics Guide @@ -23,7 +24,14 @@ If the event was not recorded, you can still examine the robot post-incident for * **Sensors**: Ensure all sensors are clean, unobstructed, firmly mounted, and properly connected. Dust or misalignment can cause degraded performance. * **Cables and Connectors**: Inspect for loose plugs, frayed wires, or damaged insulation. Confirm that all connections are secure and seated properly. * **Battery**: Look for signs of swelling, leakage, or deformation. Ensure the battery is correctly installed and shows no abnormal wear. -* **LED Indicators**: Observe status LEDs for abnormal colors or flashing patterns, which may signal internal errors or system faults. +* **LED Indicators**: Observe the LED strip color for motion mode identification: + - **Solid Blue**: Normal Operation mode + - **Solid Orange**: Damping Mode + - **Solid Green**: Seated Mode + - **Solid Yellow**: Debug Mode + - **Solid Purple**: Zero-Torque Mode + - **Solid Dark Blue**: Standby Mode + - **Solid Red**: Error State ## Mobile App Diagnostics Data @@ -36,13 +44,13 @@ To acquire the robot's diagnostic information, you need to connect your mobile d
- Go2 robot + G1 robot

Step 1. Select the Robot

- B2 robot + G1 robot

Step 2. Choose AP Mode

@@ -50,28 +58,28 @@ To acquire the robot's diagnostic information, you need to connect your mobile d
- Go2 robot -

Step 3. Select the Robot

+ G1 robot +

Step 3. Create the Robot's AP Password

- B2 robot -

Step 4. Choose AP Mode

+ G1 robot +

Step 4. Wait for AP Creation

- Go2 robot -

Step 5. Connect to Robot Access Point

+ G1 robot +

Step 5. Connect Device to the Robot's AP

- B2 robot -

Step 6. Wait until Successful Connection

+ G1 robot +

Step 6. Wait for Successful Connection

@@ -101,9 +109,12 @@ When reaching out to our support team, please provide a structured and detailed * What actions or commands were executed just before the issue occurred? * How did the robot behave during and immediately after the incident? -* Were there any error messages, warning tones, or abnormal movements? +* Were there any error messages, warning tones, or abnormal movements? (*Alarms may be reset when the robot is restarted.*) * Are there any visible signs of physical damage or wear? Please attach screenshots taken from the mobile app, including diagnostic data and alarm information. If available, include relevant video footage. This helps us understand and reproduce the issue more effectively. -Understanding and documenting the issue clearly will help prevent further damage and ensure safe continuation of your development or testing efforts. \ No newline at end of file +Understanding and documenting the issue clearly will help prevent further damage and ensure safe continuation of your development or testing efforts. + +***Note**: Serial Number of the robot is located in the battery compartment and through the app.* +G1 SN \ No newline at end of file diff --git a/tutorial/unitree/g1_internet_guide.md b/tutorial/unitree/g1_internet_guide.md index 75d6a7b..37922d2 100644 --- a/tutorial/unitree/g1_internet_guide.md +++ b/tutorial/unitree/g1_internet_guide.md @@ -69,7 +69,7 @@ network: nameservers: addresses: [8.8.8.8, 8.8.4.4] ``` -*Note: The internal development PC has 2 ethernet interfaces (eth0 and eth1). One of the interfaces will already be assigned an IP of 192.168.123.164. **Please do not configure this interface in the netplan config file, instead use the UNASSIGNED interface.*** +***Note**: The internal development PC has 2 ethernet interfaces (eth0 and eth1). One of the interfaces will already be assigned an IP of 192.168.123.164. **Please do not configure this interface in the netplan config file, instead use the UNASSIGNED interface.*** Test the Netplan configuration ```bash diff --git a/tutorial/unitree/go2_diag_guide.md b/tutorial/unitree/go2_diag_guide.md new file mode 100644 index 0000000..03dc754 --- /dev/null +++ b/tutorial/unitree/go2_diag_guide.md @@ -0,0 +1,134 @@ +--- +sidebar_position: 2 +--- + +import GO2_APP_CONN_01_IMG from './img/go2_app_conn_01.jpg'; +import GO2_APP_CONN_02_IMG from './img/go2_app_conn_02.jpg'; +import GO2_APP_CONN_03_IMG from './img/go2_app_conn_03.jpg'; +import GO2_APP_CONN_04_IMG from './img/go2_app_conn_04.jpg'; +import GO2_STARTUP_IMG from './img/go2_startup_position.png'; +import GO2_FIRMWARE_IMG from './img/unitree_firmware_update.png'; +import GO2_CALIBRATION_IMG from './img/quadruped_calibration.png'; +import GO2_SN_IMG from './img/unitree_robot_sn.png'; + +# Go2 Diagnostics Guide + +The Go2 robot is a sophisticated quadruped system with 12 degrees of freedom, composed of multiple integrated components including sensors, actuators, and control software. Malfunctions can arise from either hardware faults or software anomalies. When the robot does not behave as expected, it is essential to first isolate and identify the root cause. This guide provides instructions for performing initial diagnostics and gathering key information that can be shared with our support team to facilitate effective troubleshooting and assistance. + +## Behavior Analysis & Inspection + +When the robot does not behave as expected, the first step is to carefully observe its behavior and conduct a visual inspection. We strongly recommend setting up a dedicated workspace with continuous video recording (e.g., surveillance cameras). This is especially useful for capturing intermittent or unpredictable issues that may occur when you're not actively monitoring the system. + +If the event was not recorded, you can still examine the robot post-incident for signs of malfunction. Begin with a thorough visual inspection focused on the following areas: + +* **Robot Body**: Check for any visible damage, such as cracks, dents, or impact marks that may indicate collisions or falls. +* **Sensors**: Ensure all sensors are clean, unobstructed, firmly mounted, and properly connected. Dust or misalignment can cause degraded performance. +* **Cables and Connectors**: Inspect for loose plugs, frayed wires, or damaged insulation. Confirm that all connections are secure and seated properly. +* **Battery**: Look for signs of swelling, leakage, or deformation. Ensure the battery is correctly installed and shows no abnormal wear. +* **LED Indicators**: Observe the head pilot lamp for status indication: + - **Green Flash**: Switching on + - **Green Solid**: Powered on, obstacle avoidance enabled + - **Blue Solid**: Obstacle avoidance disabled + - **Purple Solid**: Companion mode + - **Blue Slow Flash**: Motor & IMU calibration in progress + - **Yellow Slow Flash**: Low battery warning (will crouch within 10 minutes) + - **Red Slow Flash**: System abnormality, boot failure, hardware failure + - **Red Fast Flash**: Motor & IMU calibration failed + +## Mobile App Diagnostics Data + +You may also use the Unitree mobile app to check the robot's diagnostic information. You can download the Unitree mobile app with the QR code on [this page](https://www.unitree.com/app/go2): + +![](./img/go2_app_download.png) + +To acquire the robot's diagnostic information, you need to connect your mobile device to the robot first. Go2 supports both AP mode and Wi-Fi mode. Unitree provides [tutorial videos](https://www.unitree.com/app/go2) for adding Go2 and using app features. The following screenshots quickly guide you through the process of connecting to the robot using AP mode. + +
+
+
+ Select Robot +

Step 1. Select the Robot

+
+
+
+
+ AP or Wi-Fi +

Step 2. Choose AP Mode

+
+
+
+
+
+
+ Create Network +

Step 3. Create the Robot's AP Password

+
+
+
+
+ Connect Device +

Step 4. Connect Device to the Robot's AP

+
+
+
+ +Once connected, you can access the robot's diagnostic information by navigating to `Device`->`Data`: + +| | | +| ------------------------------------- | --------------------------------------- | +| ![Left Top](./img/g1_app_robot_data_01.jpg) | ![Middle Top](./img/g1_app_robot_data_02.jpg) | + +### Robot Alarm Information + +![](./img/g1_alarm_info.jpg) + +### Robot Motor Information + +| | | +| ------------------------------------- | --------------------------------------- | +| ![Left Top](./img/go2_motor_information_01.jpg) | ![Middle Top](./img/go2_motor_information_02.jpg) | +| ![Left Bottom](./img/go2_motor_information_03.jpg) | ![Middle Bottom](./img/go2_motor_information_04.jpg) | +| ![Left Bottom](./img/go2_motor_information_05.jpg) | + +## General Troubleshooting +This guide provides general instructions to troubleshoot, identify, and resolve common issues. + +1. **Initial Startup Position** + Ensure the robot is in this position prior to startup. + Go2 startup position + 1. Place the robot onto a flat and levelled ground. + 2. Ensure each leg joint is hand closed as shown in the image above. + 3. Ensure 2 points of contact for each leg. + +2. **Using Mobile App for Diagnostic Check** + After binding the robot to your account, check for any warnings, errors, or potential signs of failure in the app. + - Check for robot updates and upgrade to the latest firmware for bug fixes and new features. + Go2 firmware check + + ***Note**: For EDU versions, updates may affect software development. Refer to [Unitree Go2 Documentation](https://support.unitree.com/home/en/developer/about_Go2) for more information.* + + - Calibrate the **IMU** and **motors** only when deemed necessary *(e.g., robot unable to walk in a straight line, limping, or tilted)*. Refer to the [official tutorial videos](https://www.unitree.com/app/go2). + Go2 calibration + + - Adjust the payload configuration [`Device`->`Data`] if additional components or devices are mounted onto the robot. + +3. **Hardware Check** + - Replace any foot pads with bald spots or excessive wear. + - Move each joint through its range of motion. + - Listen for any unusual sounds that may indicate mechanical issues. + +## Reporting the Issue + +When reaching out to our support team, please provide a structured and detailed account of the problem. Please consider the following questions when reporting the issue: + +* What actions or commands were executed just before the issue occurred? +* How did the robot behave during and immediately after the incident? +* Were there any error messages, warning tones, or abnormal movements? (*Alarms may be reset when the robot is restarted.*) +* Are there any visible signs of physical damage or wear? + +Please attach screenshots taken from the mobile app, including diagnostic data and alarm information. If available, include relevant video footage. This helps us understand and reproduce the issue more effectively. + +Understanding and documenting the issue clearly will help prevent further damage and ensure safe continuation of your development or testing efforts. + +***Note**: Serial Number of the robot is located in the battery compartment and through the app.* +Go2 SN \ No newline at end of file diff --git a/tutorial/unitree/img/b2_app_conn_01.jpg b/tutorial/unitree/img/b2_app_conn_01.jpg new file mode 100644 index 0000000..a7dbf6d Binary files /dev/null and b/tutorial/unitree/img/b2_app_conn_01.jpg differ diff --git a/tutorial/unitree/img/b2_app_conn_02.jpg b/tutorial/unitree/img/b2_app_conn_02.jpg new file mode 100644 index 0000000..fbd0688 Binary files /dev/null and b/tutorial/unitree/img/b2_app_conn_02.jpg differ diff --git a/tutorial/unitree/img/b2_app_download.png b/tutorial/unitree/img/b2_app_download.png new file mode 100644 index 0000000..5c2a14a Binary files /dev/null and b/tutorial/unitree/img/b2_app_download.png differ diff --git a/tutorial/unitree/img/b2_startup_position.png b/tutorial/unitree/img/b2_startup_position.png new file mode 100644 index 0000000..fcff266 Binary files /dev/null and b/tutorial/unitree/img/b2_startup_position.png differ diff --git a/tutorial/unitree/img/g1_app_conn_03.jpg b/tutorial/unitree/img/g1_app_conn_03.jpg index 720121f..35ef16d 100644 Binary files a/tutorial/unitree/img/g1_app_conn_03.jpg and b/tutorial/unitree/img/g1_app_conn_03.jpg differ diff --git a/tutorial/unitree/img/go2_app_conn_01.jpg b/tutorial/unitree/img/go2_app_conn_01.jpg new file mode 100644 index 0000000..a3ca5df Binary files /dev/null and b/tutorial/unitree/img/go2_app_conn_01.jpg differ diff --git a/tutorial/unitree/img/go2_app_conn_02.jpg b/tutorial/unitree/img/go2_app_conn_02.jpg new file mode 100644 index 0000000..5412a60 Binary files /dev/null and b/tutorial/unitree/img/go2_app_conn_02.jpg differ diff --git a/tutorial/unitree/img/go2_app_conn_03.jpg b/tutorial/unitree/img/go2_app_conn_03.jpg new file mode 100644 index 0000000..737223a Binary files /dev/null and b/tutorial/unitree/img/go2_app_conn_03.jpg differ diff --git a/tutorial/unitree/img/go2_app_conn_04.jpg b/tutorial/unitree/img/go2_app_conn_04.jpg new file mode 100644 index 0000000..4616ee7 Binary files /dev/null and b/tutorial/unitree/img/go2_app_conn_04.jpg differ diff --git a/tutorial/unitree/img/go2_app_download.png b/tutorial/unitree/img/go2_app_download.png new file mode 100644 index 0000000..bf706f8 Binary files /dev/null and b/tutorial/unitree/img/go2_app_download.png differ diff --git a/tutorial/unitree/img/go2_motor_information_01.jpg b/tutorial/unitree/img/go2_motor_information_01.jpg new file mode 100644 index 0000000..9b57016 Binary files /dev/null and b/tutorial/unitree/img/go2_motor_information_01.jpg differ diff --git a/tutorial/unitree/img/go2_motor_information_02.jpg b/tutorial/unitree/img/go2_motor_information_02.jpg new file mode 100644 index 0000000..872132e Binary files /dev/null and b/tutorial/unitree/img/go2_motor_information_02.jpg differ diff --git a/tutorial/unitree/img/go2_motor_information_03.jpg b/tutorial/unitree/img/go2_motor_information_03.jpg new file mode 100644 index 0000000..869a545 Binary files /dev/null and b/tutorial/unitree/img/go2_motor_information_03.jpg differ diff --git a/tutorial/unitree/img/go2_motor_information_04.jpg b/tutorial/unitree/img/go2_motor_information_04.jpg new file mode 100644 index 0000000..8debcd5 Binary files /dev/null and b/tutorial/unitree/img/go2_motor_information_04.jpg differ diff --git a/tutorial/unitree/img/go2_motor_information_05.jpg b/tutorial/unitree/img/go2_motor_information_05.jpg new file mode 100644 index 0000000..099b5ee Binary files /dev/null and b/tutorial/unitree/img/go2_motor_information_05.jpg differ diff --git a/tutorial/unitree/img/go2_startup_position.png b/tutorial/unitree/img/go2_startup_position.png new file mode 100644 index 0000000..b36db5d Binary files /dev/null and b/tutorial/unitree/img/go2_startup_position.png differ diff --git a/tutorial/unitree/img/quadruped_calibration.png b/tutorial/unitree/img/quadruped_calibration.png new file mode 100644 index 0000000..c81b5e9 Binary files /dev/null and b/tutorial/unitree/img/quadruped_calibration.png differ diff --git a/tutorial/unitree/img/unitree_firmware_update.png b/tutorial/unitree/img/unitree_firmware_update.png new file mode 100644 index 0000000..5c11f22 Binary files /dev/null and b/tutorial/unitree/img/unitree_firmware_update.png differ diff --git a/tutorial/unitree/img/unitree_robot_sn.png b/tutorial/unitree/img/unitree_robot_sn.png new file mode 100644 index 0000000..41a0f15 Binary files /dev/null and b/tutorial/unitree/img/unitree_robot_sn.png differ