v3.8.4 Aliengo SDK add python arm lib

unitreerobotics · Nov 21, 2022 · d5f2f0e · JonasFovea · Nov 28, 2022 · JonasFovea
1 parent bf3af88
commit d5f2f0e
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Showing 28 changed files with 1,003 additions and 688 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -4,10 +4,10 @@ project(unitree_legged_sdk)
 include_directories(include)
 include_directories(./)
 
-# add_compile_options(-std=c++11)
-add_compile_options(-std=c++14)
+link_directories(lib/cpp/amd64)
+
+add_compile_options(-std=c++11)
 
-# check arch and os
 message("-- CMAKE_SYSTEM_PROCESSOR: ${CMAKE_SYSTEM_PROCESSOR}")
 if("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "x86_64.*")
   set(ARCH amd64)
@@ -17,26 +17,31 @@ if("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "aarch64.*")
 endif()
 
 link_directories(lib/cpp/${ARCH})
-set(EXTRA_LIBS -pthread libunitree_legged_sdk.so)
+set(EXTRA_LIBS -pthread libunitree_legged_sdk.so lcm)
 
 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})
 
-# one pc one process
-add_executable(example_position example/example_position.cpp)
-target_link_libraries(example_position ${EXTRA_LIBS})
+add_executable(example_start_aliengo examples/example_start_aliengo_sport.cpp)
+target_link_libraries(example_start_aliengo ${EXTRA_LIBS})
 
-add_executable(example_velocity example/example_velocity.cpp)
-target_link_libraries(example_velocity ${EXTRA_LIBS})
+add_executable(example_joystick_aliengo examples/example_joystick_aliengo_sport.cpp)
+target_link_libraries(example_joystick_aliengo ${EXTRA_LIBS})
 
-add_executable(example_torque example/example_torque.cpp)
-target_link_libraries(example_torque ${EXTRA_LIBS})
+add_executable(example_recovery_aliengo examples/example_recovery_aliengo_sport.cpp)
+target_link_libraries(example_recovery_aliengo ${EXTRA_LIBS})
 
-add_executable(example_walk example/example_walk.cpp)
-target_link_libraries(example_walk ${EXTRA_LIBS})
+add_executable(example_position_aliengo examples/example_position_aliengo.cpp)
+target_link_libraries(example_position_aliengo ${EXTRA_LIBS})
 
-add_executable(example_joystick example/example_joystick.cpp)
-target_link_libraries(example_joystick ${EXTRA_LIBS})
+add_executable(example_velocity_aliengo examples/example_velocity_aliengo.cpp)
+target_link_libraries(example_velocity_aliengo ${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
@@ -1,25 +1,33 @@
-# v3.8.1
-The unitree_legged_sdk is mainly used for communication between PC and Controller board.
+# v3.8.4
+The aliengo_sdk is mainly used for communication between PC and aliengo control board.
 It also can be used in other PCs with UDP.
 
 ### Notice
-support robot: B1
+support robot: Aliengo
 
 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    >= v3.24
+Legged_sport    >= v1.0.20
 firmware H0.1.7 >= v0.1.35
          H0.1.9 >= v0.1.35
-```
 
-### Dependencies
-* [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)
 
 
+### 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
+```
+
 ### Build
 ```bash
 mkdir build

diff --git a/example/example_walk.cpp b/example/example_walk.cpp
diff --git a/example_py/example_position.py b/example_py/example_position.py
@@ -8,10 +8,17 @@
 sys.path.append('../lib/python/amd64')
 import robot_interface as sdk
 
+# low cmd
+TARGET_PORT = 8007
+LOCAL_PORT = 8082
+TARGET_IP = "192.168.123.10"   # target IP address
+
+LOW_CMD_LENGTH = 610
+LOW_STATE_LENGTH = 771
+
 def jointLinearInterpolation(initPos, targetPos, rate):
 
     #rate = np.fmin(np.fmax(rate, 0.0), 1.0)
-
     if rate > 1.0:
         rate = 1.0
     elif rate < 0.0:
@@ -29,7 +36,7 @@ def jointLinearInterpolation(initPos, targetPos, rate):
          'RL_0':9, 'RL_1':10, 'RL_2':11 }
     PosStopF  = math.pow(10,9)
     VelStopF  = 16000.0
-    HIGHLEVEL = 0xee
+    HIGHLEVEL = 0x00
     LOWLEVEL  = 0xff
     sin_mid_q = [0.0, 1.2, -2.0]
     dt = 0.002
@@ -40,13 +47,15 @@ def jointLinearInterpolation(initPos, targetPos, rate):
     Kp = [0, 0, 0]
     Kd = [0, 0, 0]
 
-    # udp = sdk.UDP(8080, "192.168.123.10", 8007, 614, 807, False, sdk.RecvEnum.nonBlock)
-    udp = sdk.UDP(LOWLEVEL, 8080, "192.168.123.10", 8007)
-    safe = sdk.Safety(sdk.LeggedType.B1)
+    udp = sdk.UDP(LOCAL_PORT, TARGET_IP, TARGET_PORT, LOW_CMD_LENGTH, LOW_STATE_LENGTH, -1)
+    #udp = sdk.UDP(8082, "192.168.123.10", 8007, 610, 771)
+    safe = sdk.Safety(sdk.LeggedType.Aliengo)
 
     cmd = sdk.LowCmd()
     state = sdk.LowState()
     udp.InitCmdData(cmd)
+    cmd.levelFlag = LOWLEVEL
+
 
     Tpi = 0
     motiontime = 0
@@ -103,7 +112,7 @@ def jointLinearInterpolation(initPos, targetPos, rate):
             cmd.motorCmd[d['FR_0']].dq = 0
             cmd.motorCmd[d['FR_0']].Kp = Kp[0]
             cmd.motorCmd[d['FR_0']].Kd = Kd[0]
-            cmd.motorCmd[d['FR_0']].tau = -5.0
+            cmd.motorCmd[d['FR_0']].tau = -1.6
 
             cmd.motorCmd[d['FR_1']].q = qDes[1]
             cmd.motorCmd[d['FR_1']].dq = 0