v3.8.3 B1 SDK add python arm lib

unitreerobotics · Nov 21, 2022 · bf3af88 · bf3af88
1 parent fca009d
commit bf3af88
Show file tree

Hide file tree

Showing 28 changed files with 688 additions and 1,003 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -4,10 +4,10 @@ project(unitree_legged_sdk)
 include_directories(include)
 include_directories(./)
 
-link_directories(lib/cpp/amd64)
-
-add_compile_options(-std=c++11)
+# add_compile_options(-std=c++11)
+add_compile_options(-std=c++14)
 
+# check arch and os
 message("-- CMAKE_SYSTEM_PROCESSOR: ${CMAKE_SYSTEM_PROCESSOR}")
 if("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "x86_64.*")
   set(ARCH amd64)
@@ -17,31 +17,26 @@ if("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "aarch64.*")
 endif()
 
 link_directories(lib/cpp/${ARCH})
-set(EXTRA_LIBS -pthread libunitree_legged_sdk.so lcm)
+set(EXTRA_LIBS -pthread libunitree_legged_sdk.so)
 
 set(CMAKE_CXX_FLAGS "-O3 -fPIC")
-
-add_executable(example_walk_aliengo examples/example_walk_aliengo_sport.cpp)
-target_link_libraries(example_walk_aliengo ${EXTRA_LIBS})
 
-add_executable(example_start_aliengo examples/example_start_aliengo_sport.cpp)
-target_link_libraries(example_start_aliengo ${EXTRA_LIBS})
+# one pc one process
+add_executable(example_position example/example_position.cpp)
+target_link_libraries(example_position ${EXTRA_LIBS})
 
-add_executable(example_joystick_aliengo examples/example_joystick_aliengo_sport.cpp)
-target_link_libraries(example_joystick_aliengo ${EXTRA_LIBS})
+add_executable(example_velocity example/example_velocity.cpp)
+target_link_libraries(example_velocity ${EXTRA_LIBS})
 
-add_executable(example_recovery_aliengo examples/example_recovery_aliengo_sport.cpp)
-target_link_libraries(example_recovery_aliengo ${EXTRA_LIBS})
+add_executable(example_torque example/example_torque.cpp)
+target_link_libraries(example_torque ${EXTRA_LIBS})
 
-add_executable(example_position_aliengo examples/example_position_aliengo.cpp)
-target_link_libraries(example_position_aliengo ${EXTRA_LIBS})
+add_executable(example_walk example/example_walk.cpp)
+target_link_libraries(example_walk ${EXTRA_LIBS})
 
-add_executable(example_velocity_aliengo examples/example_velocity_aliengo.cpp)
-target_link_libraries(example_velocity_aliengo ${EXTRA_LIBS})
+add_executable(example_joystick example/example_joystick.cpp)
+target_link_libraries(example_joystick ${EXTRA_LIBS})
 
-add_executable(example_torque_aliengo examples/example_torque_aliengo.cpp)
-target_link_libraries(example_torque_aliengo ${EXTRA_LIBS})
 
 
 
-
diff --git a/README.md b/README.md
@@ -1,32 +1,24 @@
-# v3.8.2
-The aliengo_sdk is mainly used for communication between PC and aliengo control board.
+# v3.8.1
+The unitree_legged_sdk is mainly used for communication between PC and Controller board.
 It also can be used in other PCs with UDP.
 
 ### Notice
-support robot: Aliengo
+support robot: B1
 
 not support robot: Laikago, Aliengo, A1. (Check release [v3.3.1](https://github.com/unitreerobotics/unitree_legged_sdk/releases/tag/v3.3.1) for support)
 
 ### Sport Mode
 ```bash
-Legged_sport    >= v1.0.20
+Legged_sport    >= v3.24
 firmware H0.1.7 >= v0.1.35
          H0.1.9 >= v0.1.35
-
-
+```
 
 ### Dependencies
-* [Boost](http://www.boost.org) (version 1.5.4 or higher)
-* [CMake](http://www.cmake.org) (version 2.8.3 or higher)
-* [LCM](https://lcm-proj.github.io) (version 1.4.0 or higher)
-```bash
-cd lcm-x.x.x
-mkdir build
-cd build
-cmake ../
-make
-sudo make install
-```
+* [Boost](http://www.boost.org) (version 1.71.0 or higher)
+* [CMake](http://www.cmake.org) (version 3.16.3 or higher)
+* [g++](https://gcc.gnu.org/) (version 9.4.0 or higher)
+
 
 ### Build
 ```bash

diff --git a/examples/example_recovery_aliengo_sport.cpp → example/example_joystick.cpp b/examples/example_recovery_aliengo_sport.cpp → example/example_joystick.cpp
@@ -4,40 +4,36 @@ Use of this source code is governed by the MPL-2.0 license, see LICENSE.
 ************************************************************************/
 
 #include "unitree_legged_sdk/unitree_legged_sdk.h"
+#include "unitree_legged_sdk/joystick.h"
 #include <math.h>
 #include <iostream>
 #include <unistd.h>
-#include <string.h>
 
 using namespace UNITREE_LEGGED_SDK;
 
-// high cmd
-constexpr uint16_t TARGET_PORT = 8082;
-constexpr uint16_t LOCAL_PORT = 8081;
-constexpr char TARGET_IP[] = "192.168.123.220";   // target IP address
-
 class Custom
 {
 public:
-    Custom(uint8_t level): safe(LeggedType::Aliengo),
-        udp(LOCAL_PORT, TARGET_IP,TARGET_PORT, sizeof(HighCmd), sizeof(HighState))
-    {
+    Custom(uint8_t level): 
+        safe(LeggedType::B1), 
+        udp(level, 8090, "192.168.123.10", 8007){
         udp.InitCmdData(cmd);
     }
-    void UDPRecv();
     void UDPSend();
+    void UDPRecv();
     void RobotControl();
 
     Safety safe;
     UDP udp;
-    HighCmd cmd = {0};
-    HighState state = {0};
+    LowCmd cmd = {0};
+    LowState state = {0};
+    xRockerBtnDataStruct _keyData;
     int motiontime = 0;
     float dt = 0.002;     // 0.001~0.01
 };
 
 void Custom::UDPRecv()
-{
+{ 
     udp.Recv();
 }
 
@@ -48,47 +44,28 @@ void Custom::UDPSend()
 
 void Custom::RobotControl() 
 {
-    motiontime += 2;
+    motiontime++;
     udp.GetRecv(state);
 
-    cmd.velocity[0] = 0.0f;
-    cmd.velocity[1] = 0.0f;
-    cmd.position[0] = 0.0f;
-    cmd.position[1] = 0.0f;
-    cmd.yawSpeed = 0.0f;;
+    memcpy(&_keyData, &state.wirelessRemote[0], 40);
 
-    cmd.mode = 0;
-    cmd.rpy[0]  = 0;
-    cmd.rpy[1] = 0;
-    cmd.rpy[2] = 0;
-    cmd.gaitType = 0;
-    cmd.dBodyHeight = 0;
-    cmd.dFootRaiseHeight = 0;
-
-    if (motiontime == 2)
-    {
-        std::cout<<"begin sending commands."<<std::endl;
-    }
-    if (motiontime>1000 && motiontime <2000)
-    {
-        cmd.mode = 7;    // mode 7: must enter damping mode before using recovery
-    }
-    if (motiontime>2000 && motiontime <3000)
-    {
-        cmd.mode = 8;    // mode 8: recovery 
+    if((int)_keyData.btn.components.A == 1){
+        std::cout << "The key A is pressed, and the value of lx is " << _keyData.lx << std::endl;
     }
+
+    safe.PowerProtect(cmd, state, 1);
     udp.SetSend(cmd);
 }
 
-int main(void) 
+int main(void)
 {
-    std::cout << "Communication level is set to HIGH-level." << std::endl
-              << "WARNING: Make sure the robot is standing on the ground." << std::endl
+    std::cout << "Communication level is set to LOW-level." << std::endl
+              << "WARNING: Make sure the robot is hung up." << std::endl
               << "Press Enter to continue..." << std::endl;
     std::cin.ignore();
 
-    Custom custom(HIGHLEVEL);
-    InitEnvironment();
+    Custom custom(LOWLEVEL);
+    // InitEnvironment();
     LoopFunc loop_control("control_loop", custom.dt,    boost::bind(&Custom::RobotControl, &custom));
     LoopFunc loop_udpSend("udp_send",     custom.dt, 3, boost::bind(&Custom::UDPSend,      &custom));
     LoopFunc loop_udpRecv("udp_recv",     custom.dt, 3, boost::bind(&Custom::UDPRecv,      &custom));

diff --git a/examples/example_position_aliengo.cpp → example/example_position.cpp b/examples/example_position_aliengo.cpp → example/example_position.cpp
@@ -11,23 +11,13 @@
 using namespace std;
 using namespace UNITREE_LEGGED_SDK;
 
-// low cmd
-constexpr uint16_t TARGET_PORT = 8007;
-constexpr uint16_t LOCAL_PORT = 8082;
-constexpr char TARGET_IP[] = "192.168.123.10";   // target IP address
-
-const int LOW_CMD_LENGTH = 610;
-const int LOW_STATE_LENGTH = 771;
-
-
 class Custom
 {
 public:
-    Custom(uint8_t level) : safe(LeggedType::Aliengo),
-                            udp(LOCAL_PORT, TARGET_IP,TARGET_PORT, LOW_CMD_LENGTH, LOW_STATE_LENGTH)
+    Custom(uint8_t level) : safe(LeggedType::B1),
+                            udp(level, 8090, "192.168.123.10", 8007)
     {
         udp.InitCmdData(cmd);
-        cmd.levelFlag = LOWLEVEL;
     }
     void UDPRecv();
     void UDPSend();
@@ -75,10 +65,10 @@ void Custom::RobotControl()
     printf("%d  %f  %f\n", motiontime, state.motorState[FR_1].q, state.motorState[FR_1].dq);
 
     // gravity compensation
-    cmd.motorCmd[FR_0].tau = -1.6f;
-    // cmd.motorCmd[FL_0].tau = +1.0f;
-    // cmd.motorCmd[RR_0].tau = -1.0f;
-    // cmd.motorCmd[RL_0].tau = +1.0f;
+    cmd.motorCmd[FR_0].tau = -5.0f;
+    // cmd.motorCmd[FL_0].tau = +0.65f;
+    // cmd.motorCmd[RR_0].tau = -0.65f;
+    // cmd.motorCmd[RL_0].tau = +0.65f;
 
     // if( motiontime >= 100){
     if (motiontime >= 0)
@@ -133,7 +123,7 @@ void Custom::RobotControl()
         cmd.motorCmd[FR_0].dq = 0;
         cmd.motorCmd[FR_0].Kp = Kp[0];
         cmd.motorCmd[FR_0].Kd = Kd[0];
-        cmd.motorCmd[FR_0].tau = -1.6f;
+        cmd.motorCmd[FR_0].tau = -4.0f;
 
         cmd.motorCmd[FR_1].q = qDes[1];
         cmd.motorCmd[FR_1].dq = 0;

diff --git a/examples/example_torque_aliengo.cpp → example/example_torque.cpp b/examples/example_torque_aliengo.cpp → example/example_torque.cpp
@@ -9,22 +9,13 @@
 
 using namespace UNITREE_LEGGED_SDK;
 
-// low cmd
-constexpr uint16_t TARGET_PORT = 8007;
-constexpr uint16_t LOCAL_PORT = 8082;
-constexpr char TARGET_IP[] = "192.168.123.10";   // target IP address
-
-const int LOW_CMD_LENGTH = 610;
-const int LOW_STATE_LENGTH = 771;
-
 class Custom
 {
 public:
     Custom(uint8_t level): 
-        safe(LeggedType::Aliengo), 
-        udp(LOCAL_PORT, TARGET_IP,TARGET_PORT, LOW_CMD_LENGTH, LOW_STATE_LENGTH){
+        safe(LeggedType::B1), 
+        udp(level, 8090, "192.168.123.10", 8007){
         udp.InitCmdData(cmd);
-        cmd.levelFlag = LOWLEVEL;
     }
     void UDPSend();
     void UDPRecv();
@@ -55,7 +46,7 @@ void Custom::RobotControl()
     udp.GetRecv(state);
     printf("%d  %f  %f\n", motiontime, state.motorState[FR_1].q, state.motorState[FR_1].dq);
     // gravity compensation
-    cmd.motorCmd[FR_0].tau = -1.6f;
+    cmd.motorCmd[FR_0].tau = -5.0f;
     // cmd.motorCmd[FL_0].tau = +0.65f;
     // cmd.motorCmd[RR_0].tau = -0.65f;
     // cmd.motorCmd[RL_0].tau = +0.65f;

diff --git a/examples/example_velocity_aliengo.cpp → example/example_velocity.cpp b/examples/example_velocity_aliengo.cpp → example/example_velocity.cpp
@@ -8,22 +8,13 @@
 
 using namespace UNITREE_LEGGED_SDK;
 
-// low cmd
-constexpr uint16_t TARGET_PORT = 8007;
-constexpr uint16_t LOCAL_PORT = 8082;
-constexpr char TARGET_IP[] = "192.168.123.10";   // target IP address
-
-const int LOW_CMD_LENGTH = 610;
-const int LOW_STATE_LENGTH = 771;
-
 class Custom
 {
 public:
     Custom(uint8_t level): 
-        safe(LeggedType::Aliengo), 
-        udp(LOCAL_PORT, TARGET_IP,TARGET_PORT, LOW_CMD_LENGTH, LOW_STATE_LENGTH){
+        safe(LeggedType::B1), 
+        udp(level, 8090, "192.168.123.10", 8007){
         udp.InitCmdData(cmd);
-        cmd.levelFlag = LOWLEVEL;
     }
     void UDPRecv();
     void UDPSend();
@@ -52,6 +43,8 @@ void Custom::RobotControl()
 {
     motiontime++;
     udp.GetRecv(state);
+
+    printf("%d  %f  %f\n", motiontime, state.motorState[FR_1].q, state.motorState[FR_1].dq);
     // if(motiontime%50 == 0){
         // printf("%ld    %ld     %ld\n", udp.udpState.RecvLoseError, udp.udpState.RecvCount, udp.udpState.SendCount);
     // }
@@ -61,10 +54,10 @@ void Custom::RobotControl()
     //         state.motorState[6].q, state.motorState[7].q, state.motorState[8].q, 
     //         state.motorState[9].q, state.motorState[10].q, state.motorState[11].q );
     // gravity compensation
-    cmd.motorCmd[FR_0].tau = -1.6f;
-    // cmd.motorCmd[FL_0].tau = +0.0f;
-    // cmd.motorCmd[RR_0].tau = -1.0f;
-    // cmd.motorCmd[RL_0].tau = +1.0f;
+    cmd.motorCmd[FR_0].tau = -5.0f;
+    // cmd.motorCmd[FL_0].tau = +0.65f;
+    // cmd.motorCmd[RR_0].tau = -0.65f;
+    // cmd.motorCmd[RL_0].tau = +0.65f;
 
     if( motiontime >= 500){
         float speed = 2 * sin(3*M_PI*Tpi/2000.0);