hosunkang / a1control

test

v3.3.2

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, 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

mkdir build
cd build
cmake ../
make

Usage

1. Cpp

   Run examples with 'sudo' for memory locking.

2. Python

   To run the robot with Python scripts, open scripts/Unitree_Python_sdk.py, then edit the path to "build" folder.

   After that, running Robot_Python.py. Right now, the provided Python scripts are only for A1 robot. To use other type robots, edit the "LeggedType" in src/python_interface_high_cmd.cpp, and recompile the project.