niudix / free_dog_sdk_cpp

Unitree Go 1 Free Dog SDK CPP

Welcome to the repository designed for general users without needing "Krypton gold."

This repository serves as an experimental platform and should be utilized primarily for educational purposes or non-commercial development.

We thank Bin4ry for their invaluable contributions to the protocol analysis and the Python iteration.

Note!!

1. Only test on go 1 air.
2. But it can be extended to other robots.
3. Thanks, Bin4ry for the Python version.

Current State

1. Testing with legged_control Legged_controller(3Q qiayuan)
2. Testing wired, Wi-Fi high- and low-level control. especially torque tracking control.
3. Without any safety, you can clip with your controller with urdf limits.
4. I fixed some bugs in the Python version; it can be used for RL.

How to use?

1. I made it as a ROS pkg; you can delete the ROS-relative things, and then you can use it anywhere you wanna.
2. Clone into your ROS ws. And catkin build
3. If you used wired, you should set up your IP just like 192.168.123.xxx
4. Then catkin build again and source devel/setup.bash
5. rosrun fdsc_utils fdsc_utils_pushup_node (This is most safe motion. If you use wireless with robot please modify connection settings as "LOW_WIFI_DEFAULTS")

Examples:

1. High-level
   1. robot stand up and down
   2. rotation walk with trot
   3. force stand and walk
2. Low level
   1. joint pd control
   2. joint velocity control
   3. joint tau control
   4. joint tau tracking control

Before you run low-level control. You should use the RC and do the following cmd sequence:

L2 + B
L1 + L2 + START

The IP config and meanings in the file "unitreeConnectBoost.hpp":

    const std::string localIpWifi = "192.168.12.222"; // Your PC wifi will give by the DHCP wifi:pwd 00000000
    const std::string localIpEth = "192.168.123.12"; // Your PC
    const std::string addrWifi = "192.168.12.1"; // wifi pi
    const std::string addrLow = "192.168.123.10"; // Nano can't connect
    const std::string addrHigh = "192.168.123.161"; // Pi wired IP
    const std::string sim_addr = "127.0.0.1"; // Local

Demos:

LICENSE

MIT LICENSE

Referneces

1. Bin4ry Python Version(Many Thks)
2. legged_controller