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Hardware needs

The autonomous exploration capability requires a laserscan sensor to be mounted to the head of the Go2. We recommend the RPLidar A1M8. Please see the RPLidar setup documentation for more information.

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Overview

Using OM1, the Unitree Go2 is able to autonomously explore spaces such as your home. There are several parts to this capability. To get started, launch OM1:

Run OM1
uv run src/run.py unitree_go2_lidar

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RPLIDAR Laserscan Data

OM1 uses the RPLIDAR to tell the core LLMs about nearby objects. This information flows as natural language to the core LLMs from /input/plugins/rplidar.py. The LIDAR data are also used in the action driver to check for viable paths before and during motions are executed.

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Core LLM Directed Motion

Depending on the sensed spatial environment, the core LLMs can generate contextually appropriate motion commands.

# actions/move_safe_lidar/interface.py
  TURN_LEFT = "turn left"
  TURN_RIGHT = "turn right"
  MOVE_FORWARDS = "move forwards"
  STAND_STILL = "stand still"

These commands are defined in actions/move_safe_lidar/interface.py and are converted to motions in /actions/move_safe_lidar/connector/ros2.py.

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Data Priorities

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Normal case

  • The LIDAR does not sense anything in proximity (within 1.1m or closer).

In this case, the Go2 moves about the room controlled by the core LLMs.

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Object nearby possible moves are constrained

The LIDAR senses something within 1.1 m (or less) and uses that information to tell the core LLMs about which paths are possible. For example, the LIDAR may tell the core LLMS that:

Here is information about objects and walls around you. Use this information to plan your movements and avoid bumping into things: The safe movement choices are: You can turn left. You can turn right.

If all directions are blocked, the LIDAR tells the LLMs that:

You are surrounded by objects and cannot safely move in any direction. DO NOT MOVE.

In this case, the core LLMs should command the Go2 to avoid the object(s).