宇树机器人对接Python-手部动作

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宇树机器人对接Python-手部动作

前言

SDK地址

https://support.unitree.com/home/zh/G1_developer/sdk_overview

上位机连接

https://support.unitree.com/home/zh/G1_developer/quick_development

高层运动

https://support.unitree.com/home/zh/G1_developer/sport_services_interface

工单

https://serviceconsole.unitree.com/#/new-work-order?progress=1

基本示例

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from unitree_sdk2py.g1.arm.g1_arm_action_client import G1ArmActionClient
from unitree_sdk2py.g1.arm.g1_arm_action_client import action_map

armAction_client = G1ArmActionClient()
armAction_client.SetTimeout(10.0)
armAction_client.Init()

做动作

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result = armAction_client.ExecuteAction(action_map.get("left kiss"))
print(result)
if result == 0:
    time.sleep(2)
    armAction_client.ExecuteAction(action_map.get("release arm"))

系列动作

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action_name_arr = ["left kiss","right kiss","two-hand kiss"]
for action_name in action_name_arr:
    result = armAction_client.ExecuteAction(action_map.get(action_name))
    print(result)
    if result ==0:
        time.sleep(2)
        armAction_client.ExecuteAction(action_map.get("release arm"))

支持的动作

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action_map = {
    "release arm": 99,
    "two-hand kiss": 11,
    "left kiss": 12,
    "right kiss": 13,
    "hands up": 15,
    "clap": 17,
    "high five": 18,
    "hug": 19,
    "heart": 20,
    "right heart": 21,
    "reject": 22,
    "right hand up": 23,
    "x-ray": 24,
    "face wave": 25,
    "high wave": 26,
    "shake hand": 27,
}