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v3.3.1

How to use

This is the repo build to run your RL algorithm on the Unitree A1

And now I'll tell you how to use this repo

Before you start, you should have things below:

  1. cable(connect your PC to A1)
  2. A PC (Linux / Win is all ok )
  3. Python(3.8 + recommend)

Now Let's start build

  1. build your Unitree sdk as following command (from Info to Important parts )
  2. build the python version(notice the CMAKELISTS.txt)

Info

This repo was forked from Maddy and Unitree

And I've implemented this sdk for python

The unitree_legged_sdk is mainly used for communication between PC and Controller board. It also can be used in other PCs with UDP.

Important

You need to update your Raspi on the A1 to arm64

Notice

support robot: Aliengo, A1(sport_mode >= v1.19)

not support robot: Laikago, Go1.

Dependencies

  • Boost (version 1.5.4 or higher)
  • CMake (version 2.8.3 or higher)
  • LCM (version 1.4.0 or higher)
cd lcm-x.x.x
mkdir build
cd build
cmake ../
make
sudo make install

Build C++

mkdir build
cd build
cmake ../
make

Build for Python

cd python_wrapper
mkdir build
vim ../CMakelists.txt # change your ".so" info for your platform
cmake ..
make

You'll find a repo named "robot_interface*(your platform) *.so"

Usage

Run examples with 'sudo' for memory locking.

How to Use Python Version

Copy your lib

cp where-to-your-robot_interface-.so where-to-your-destination
cd where-to-your-des
sudo python3

Run this file to run

remeber to use sudo to initial UDP

import robot_interface as sdk
import time
udp = sdk.UDP(0xff, sdk.Basic) # oxff is LowCmd
safe = sdk.Safety(sdk.LeggedType.A1)

cmd = sdk.LowCmd()
state = sdk.LowState()
udp.InitCmdData(cmd)

while True:
    time.sleep(0.01)
    udp.Recv()
    udp.GetRecv(state)
    
    for i in state.imu.quaternion:
        print(i)
        
    udp.SetSend(cmd)
    udp.Send()

Robot Interface

The base function of the robot has been written to the robot.py

cd py
sudo python3 ./test_robot.py

The robot usage has been written to the test_robot.py

How to use Robot

import api.robot as rbt
from utils.signal_hand import quit_robot
import signal

# this one will make your robot go back to the original position in 100 * self.dt time
def signal_handler(signal, frame):
    print('You pressed Ctrl+C!')
    quit_robot(a1)
signal.signal(signal.SIGINT, signal_handler)


a1 = rbt.Robot()

a1.observe()
act = a1.position

a1.init_motor(act)

while True:
    obs = a1.observe()

    act = USE_YOUR_MODEL(obs)

    a1.take_action(act)

# run below command if you need  hold your posture
# while True:
#     a1.hold_on()

How to change the file to fit your observation and action?

  1. in the robot.py file, change the observe() func to fit your observation
  2. in the take_action func, it'll change your action to command and send it to your robot

What's more

  1. the connection might be not stable if your cable is not very strong or stable ,It'll limit the behavior of your robot
  2. I've established a limit of torque and position
  3. change the PowerProtect if there is an error Power Protection end when you run your model

All these funcs are in the robot.py file