How to control robot movements using python SDK

[DongDong-Juice]

There is no problem in running the demo (the process of standing up from lying down and dumping) using the SDK. However, I want to control the robot with the SDK. However, there is no such information anywhere in git. In particular, I cannot know the internal information of deeprobotics_lite3_motion_sdk_py, so I cannot confirm which functions exist. Can you tell me how?

[DongDong-Juice]

안녕하세요! add_python 브랜치를 사용하고 계신가요? 파이썬 함수는 Lite3_MotionSDK/python/motion_sdk_pybind.cpp 파일에서 찾을 수 있습니다.
@mazunwang

Yes I am using python using add_python brunch. The demo simply calibrates the robot and makes it stand up and sit back down. But I want to do more than that. Specifically make it stand up and move forward.

and

The SDK provided (including cpp) for this purpose can't help you with that. Even if you do it, you have to specify every joint one by one, which is very difficult for a typical user. Can you provide some easy guidelines or (sorry for mentioning other competitors) highlevel control like unitree?

[Smart-Stadium]

I have the same questions. How can I move the robot easily with SDK? I'd like to use prerecorded actions like "Hello", "Long Jump", "move forward for 1 second", "turn left" ... in my python or C++ codes.

[yyang0802]

This SDK is mainly for motion control algorithm development. The communication protocol for sending high-level control command(like move and some actions) is also provided if you have our robot. Please contact our aftersales to get it.

[DongDong-Juice]

This SDK is mainly for motion control algorithm development. The communication protocol for sending high-level control command(like move and some actions) is also provided if you have our robot. Please contact our aftersales to get it.

@yyang0802

Yes, I bought the robot and received the communication protocol. However, it cannot be used as a single source code.
In my experience, I tried to control the robot with the communication protocol I received during testing. However, when I opened the communication window and tried to talk to the robot, the robot did not respond.
In order to respond, the app on the dedicated controller must be connected to the robot.
In other words, if there is no controller or the robot's Wi-Fi is not connected to the controller, the communication protocol will not respond.
(Of course, this is my experience from my own testing.)
Can I get support for this part? Or do you plan to provide an SDK for simple control?

[DongDong-Juice]

Also, I'm a little curious. It's for developing a motion control algorithm, but I don't know the data set for leg control. For example, it's hard to know the values ​​and meanings of the array of variables for the legs. (Value range, meaning, purpose, data type, etc.) It's difficult to use because there's not much information :/

[yyang0802]

This SDK is mainly for motion control algorithm development. The communication protocol for sending high-level control command(like move and some actions) is also provided if you have our robot. Please contact our aftersales to get it.

@yyang0802

Yes, I bought the robot and received the communication protocol. However, it cannot be used as a single source code. In my experience, I tried to control the robot with the communication protocol I received during testing. However, when I opened the communication window and tried to talk to the robot, the robot did not respond. In order to respond, the app on the dedicated controller must be connected to the robot. In other words, if there is no controller or the robot's Wi-Fi is not connected to the controller, the communication protocol will not respond. (Of course, this is my experience from my own testing.) Can I get support for this part? Or do you plan to provide an SDK for simple control?

Do you keep sending heartbeat code in 2Hz?

[DongDong-Juice]

이 SDK는 주로 모션 제어 알고리즘 개발을 위한 것입니다. 저희 로봇을 사용하시는 경우, 고수준 제어 명령(이동 및 일부 동작)을 전송하는 통신 프로토콜도 제공됩니다. 자세한 내용은 애프터서비스팀에 문의해 주세요.

@yyang0802
네, 로봇을 구매하고 통신 프로토콜을 받았습니다. 하지만 단일 소스 코드로는 사용할 수 없습니다. 제 경험상 테스트 중에 받은 통신 프로토콜로 로봇을 제어해 보았습니다. 그런데 통신 창을 열고 로봇과 대화하려고 하니 로봇이 응답하지 않았습니다. 응답하려면 전용 컨트롤러의 앱이 로봇에 연결되어 있어야 합니다. 즉, 컨트롤러가 없거나 로봇의 Wi-Fi가 컨트롤러에 연결되어 있지 않으면 통신 프로토콜이 응답하지 않습니다. (물론 제가 직접 테스트해 본 경험입니다.) 이 부분에 대한 지원을 받을 수 있을까요? 아니면 간단한 제어를 위한 SDK를 제공할 계획이 있으신가요?

2Hz로 하트비트 코드를 계속 보내고 있나요?

Are you talking about using SDK? If that's what you're talking about, then yes.
When using a communication protocol other than SDK, you're simply opening a communication window and trying to communicate.

[yyang0802]

이 SDK는 주로 모션 제어 알고리즘 개발을 위한 것입니다. 저희 로봇을 사용하시는 경우, 고수준 제어 명령(이동 및 일부 동작)을 전송하는 통신 프로토콜도 제공됩니다. 자세한 내용은 애프터서비스팀에 문의해 주세요.

@yyang0802
네, 로봇을 구매하고 통신 프로토콜을 받았습니다. 하지만 단일 소스 코드로는 사용할 수 없습니다. 제 경험상 테스트 중에 받은 통신 프로토콜로 로봇을 제어해 보았습니다. 그런데 통신 창을 열고 로봇과 대화하려고 하니 로봇이 응답하지 않았습니다. 응답하려면 전용 컨트롤러의 앱이 로봇에 연결되어 있어야 합니다. 즉, 컨트롤러가 없거나 로봇의 Wi-Fi가 컨트롤러에 연결되어 있지 않으면 통신 프로토콜이 응답하지 않습니다. (물론 제가 직접 테스트해 본 경험입니다.) 이 부분에 대한 지원을 받을 수 있을까요? 아니면 간단한 제어를 위한 SDK를 제공할 계획이 있으신가요?

2Hz로 하트비트 코드를 계속 보내고 있나요?

Are you talking about using SDK? If that's what you're talking about, then yes. When using a communication protocol other than SDK, you're simply opening a communication window and trying to communicate.

Could you clarify what you meant by "Communication Window"?

[DongDong-Juice]

@yyang0802
yes, sure

This refers to the act of opening a socket communication using the Python library and sending a specified packet. (Of course, all Internet settings for communication have been completed.)

[yyang0802]

@yyang0802 yes, sure

This refers to the act of opening a socket communication using the Python library and sending a specified packet. (Of course, all Internet settings for communication have been completed.)

When you need to maintain a connection with the robot, you should follow our communication protocol and continuously send heartbeat data packets(in our motion communication manual there is a command code for heartbeat). Otherwise, the robot will consider the connection to be disconnected and will not respond to any command.

[yyang0802]

Also, I'm a little curious. It's for developing a motion control algorithm, but I don't know the data set for leg control. For example, it's hard to know the values ​​and meanings of the array of variables for the legs. (Value range, meaning, purpose, data type, etc.) It's difficult to use because there's not much information :/

You may refer to example to understand the relevant parameters, primarily the joint input/output parameters and IMU feedback data. Our Motion Development Manual also contains detailed descriptions of the robot's dimensions and joint capabilities (including position ranges and peak torque specifications).

[DongDong-Juice]

Hi @yyang0802

Using SDK, it sends heartbeat. I know it well, and using SDK, it actually sends it.

But what I want to ask is not how SDK works.

A bit off topic,
but I know packets for high-level actions of robot (standing up, sitting down, walking, etc.). If the remote is firmly connected to the robot via Wi-Fi, it works fine just by opening the socket and sending the specified packet. On the other hand, if the remote is off, the robot does not understand no matter how many packets I send.

After all, for the robot to understand packets for high-level actions, the robot's Wi-Fi must be connected to the remote.

This does not fit my goal. I want to control the robot by issuing commands without a remote. I will use SDK as a base to solve this problem. However, SDK provided by deeprobotics does not have this feature.

Conclusion:

1. The controller provides high-level actions, and I want to convert this feature into source code.
2. Motion SDK does not meet the conditions.
3. If the controller is not connected to the robot via Wi-Fi, the high-level action packets do not work.

Request:

1. Do you plan to provide SDK for advanced control?
2. Improve motion SDK (including simple motions like sit, walk, stand)
3. Do you plan to produce documentation?
4. How to use advanced motion packet without controller app (if any)

[yyang0802]

Hi @DongDong-Juice, if you send packets for high-level actions, connecting the robot to the controller should not be necessary. Could you contact our aftersales service? They can provide example codes for sending data packets.

[DongDong-Juice]

Hi @yyang0802

Thank you for your support. Could you please tell me what I need to prepare and how to contact me?

[yyang0802]

Hi @yyang0802

Thank you for your support. Could you please tell me what I need to prepare and how to contact me?

Could you please fill out the form on our official website and provide your contact information and purchase details? https://www.deeprobotics.cn/en/index/fault.html