Readme

Introduction

AgiBot X1 is a modular humanoid robot with high dof developed and open-sourced by AgiBot. It is built upon AgiBot’s open-source framework AimRT as middleware and using reinforcement learning for locomotion control.

This project is about the accompanying software for AgiBot X1, including multiple functional modules such as model inference, platform driver, and software simulation.

For detailed tutorials on AimRT framework, please visit the AimRT official website.

Software Architecture Diagram

For detailed annotations of modules, please refer to the Development Guide.

Directory Structure

.
├── build.sh              # Build scripts
├── cmake                 # CMake scripts for build dependencies
│   ├── GetAimRT.cmake
│   ├── GetGTest.cmake
│   └── NamespaceTool.cmake
├── CMakeLists.txt        # Top-level CMakeLists.txt
├── format.sh             # Formatting scripts
├── README.md             # README document
├── doc                   # Development guide directory
├── src                   # Source code directory
│   ├── CMakeLists.txt    # CMakeLists.txt for the source code directory
│   ├── assistant         # ROS2 simulation and example project directory
│   ├── install           # Configuration script directory
│   ├── module            # Module directory
│   ├── pkg               # Deployment directory
│   └── protocols         # Protocol directory
└── test.sh               # Testing scripts

Running Instructions

Preparation for Launch

• Install GCC-13.

• Install cmake (version 3.26 or above).

• Install ONNX Runtime.

sudo apt update
sudo apt install -y build-essential cmake git libprotobuf-dev protobuf-compiler

git clone --recursive https://github.com/microsoft/onnxruntime

cd onnxruntime
./build.sh --config Release --build_shared_lib --parallel

cd build/Linux/Release/
sudo make install

• Install ROS2 Humble and configure the environment variables. For detailed instructions, visit the ROS2 official website.

• Install dependencies for the simulation environment.

sudo apt install jstest-gtk libglfw3-dev libdart-external-lodepng-dev

• Install the Linux realtime kernel patch if real-robot debugging is needed.

It will be very slow or even fail to download AimRT’s numerous dependencies from default sources. Therefore, we provide environment variables DOWNLOAD_FLAGS for the download based on the Gitee source in url_gitee.bashrc. Simply source url_gitee.bashrc before running build.sh and add environment variable parameters for the Gitee source.

After completing the above steps, execute the following commands in the terminal:

source /opt/ros/humble/setup.bash
source url_gitee.bashrc

# Build
./build.sh $DOWNLOAD_FLAGS

# Test
./test.sh $DOWNLOAD_FLAGS

Launch Simulation

Before starting, it is necessary to connect the handle receiver.

cd build/
./run_sim.sh

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