add python wrapper for different python version

Author: TrivasZhang

.gitignore

@@ -2,3 +2,4 @@ build
 
 *.o
 .vscode
+.clang-format

CMakeLists.txt

@@ -15,10 +15,12 @@ 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.a)
 
 set(CMAKE_CXX_FLAGS "-O3 -fPIC")
 
+add_subdirectory(python_wrapper)
+
 # one pc one process
 add_executable(example_position example/example_position.cpp)
 target_link_libraries(example_position ${EXTRA_LIBS})

README.md

@@ -1,14 +1,14 @@
-# v3.8.0
+# v3.8.5
 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: Go1
 
-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)
+not support robot: Laikago, B1, Aliengo, A1. (Check release [v3.3.1](https://github.com/unitreerobotics/unitree_legged_sdk/releases/tag/v3.3.1) for support)
 
 ### Dependencies
-* [Unitree](https://www.unitree.com/go1_update)
+* [Unitree](https://www.unitree.com/download)
 ```bash
 Legged_sport    >= v1.36.0
 firmware H0.1.7 >= v0.1.35

example/example_joystick.cpp

@@ -1,7 +1,6 @@
-/************************************************************************
-Copyright (c) 2020, Unitree Robotics.Co.Ltd. All rights reserved.
-Use of this source code is governed by the MPL-2.0 license, see LICENSE.
-************************************************************************/
+/**********************************************************************
+ Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved.
+***********************************************************************/
 
 #include "unitree_legged_sdk/unitree_legged_sdk.h"
 #include "unitree_legged_sdk/joystick.h"
@@ -11,72 +10,66 @@ Use of this source code is governed by the MPL-2.0 license, see LICENSE.
 
 using namespace UNITREE_LEGGED_SDK;
 
-class Custom
-{
-public:
-    Custom(uint8_t level): 
-        safe(LeggedType::Go1), 
-        udp(level, 8090, "192.168.123.10", 8007){
-        udp.InitCmdData(cmd);
-    }
-    void UDPSend();
-    void UDPRecv();
-    void RobotControl();
+class Custom {
+ public:
+  Custom(uint8_t level) : safe(LeggedType::Go1),
+                          udp(level, 8090, "192.168.123.10", 8007) {
+    udp.InitCmdData(cmd);
+  }
+  void UDPSend();
+  void UDPRecv();
+  void RobotControl();
 
-    Safety safe;
-    UDP udp;
-    LowCmd cmd = {0};
-    LowState state = {0};
-    xRockerBtnDataStruct _keyData;
-    int motiontime = 0;
-    float dt = 0.002;     // 0.001~0.01
+  Safety safe;
+  UDP udp;
+  LowCmd cmd = {0};
+  LowState state = {0};
+  xRockerBtnDataStruct _keyData;
+  int motiontime = 0;
+  float dt = 0.002;  // 0.001~0.01
 };
 
-void Custom::UDPRecv()
-{ 
-    udp.Recv();
+void Custom::UDPRecv() {
+  udp.Recv();
 }
 
-void Custom::UDPSend()
-{  
-    udp.Send();
+void Custom::UDPSend() {
+  udp.Send();
 }
 
-void Custom::RobotControl() 
-{
-    motiontime++;
-    udp.GetRecv(state);
+void Custom::RobotControl() {
+  motiontime++;
+  udp.GetRecv(state);
 
-    memcpy(&_keyData, &state.wirelessRemote[0], 40);
+  memcpy(&_keyData, &state.wirelessRemote[0], 40);
 
-    if((int)_keyData.btn.components.A == 1){
-        std::cout << "The key A is pressed, and the value of lx is " << _keyData.lx << std::endl;
-    }
+  if ((int)_keyData.btn.components.A == 1) {
+    std::cout << "The key A is pressed, and the value of lx is " << _keyData.lx << std::endl;
+  }
 
-    safe.PowerProtect(cmd, state, 1);
-    udp.SetSend(cmd);
+  safe.PowerProtect(cmd, state, 1);
+  udp.SetSend(cmd);
 }
 
-int main(void)
-{
-    std::cout << "Communication level is set to LOW-level." << std::endl
-              << "WARNING: Make sure the robot is hung up." << std::endl
-              << "Press Enter to continue..." << std::endl;
-    std::cin.ignore();
+int main(void) {
+  std::cout << "Communication level is set to LOW-level." << std::endl
+            << "WARNING: Make sure the robot is hung up." << std::endl
+            << "Press Enter to continue..." << std::endl;
+  std::cin.ignore();
 
-    Custom custom(LOWLEVEL);
-    // InitEnvironment();
-    LoopFunc loop_control("control_loop", custom.dt,    boost::bind(&Custom::RobotControl, &custom));
-    LoopFunc loop_udpSend("udp_send",     custom.dt, 3, boost::bind(&Custom::UDPSend,      &custom));
-    LoopFunc loop_udpRecv("udp_recv",     custom.dt, 3, boost::bind(&Custom::UDPRecv,      &custom));
+  Custom custom(LOWLEVEL);
+  // InitEnvironment();
+  LoopFunc loop_control("control_loop", custom.dt, boost::bind(&Custom::RobotControl, &custom));
+  LoopFunc loop_udpSend("udp_send", custom.dt, 3, boost::bind(&Custom::UDPSend, &custom));
+  LoopFunc loop_udpRecv("udp_recv", custom.dt, 3, boost::bind(&Custom::UDPRecv, &custom));
 
-    loop_udpSend.start();
-    loop_udpRecv.start();
-    loop_control.start();
+  loop_udpSend.start();
+  loop_udpRecv.start();
+  loop_control.start();
 
-    while(1){
-        sleep(10);
-    };
+  while (1) {
+    sleep(10);
+  };
 
-    return 0; 
+  return 0;
 }