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unitreerobotics / unitree_legged_sdk

SDK tools for control robots.
BSD 3-Clause "New" or "Revised" License
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Get LowLevel data while standing up in HighLevel (Aliengo sdk) #123

Open giuseppecialdella opened 8 months ago

giuseppecialdella commented 8 months ago

Hello, I have downloaded the sdk v3.8.4 for the Aliengo and I would like to know two things:

  1. In the first place I want to read low level telemetry (like temperature) while working in Sport mode (HighLevel). Unlike Go1 and B1 sdk, in the AlienGo sdk (more precisely into the comm.h header) the HighState data structure for example doesn't contain the MotorState variable (useful to read temperatures) that is instead present into the LowState. So when the robot is standing up I can get HighLevel data but not the LowLevel data and viceversa when it's lying down. Anyway I'm interested in getting low level data when is standing up.
  2. I'm writing the telemetry scripts in C++ but I would like to try them in Python. The problem is that when I run the examples in python it says that it doesn't find the robot_interface.

Does anyone know how to handle these problems? Thank you in advance!

Liu-Xiaoyan97 commented 8 months ago

Have you solved your problem? I ran into a similar problem. I renamed robot_interface* in lib/python/arm64 in the sdk to robot_interface.so and placed it in the same directory as the script. It did import, but I encountered ImportError: undefined symbol:PyInstanceMethod_Type. You can try to see if there is any response. Please give me feedback.

giuseppecialdella commented 8 months ago

@Liu-Xiaoyan97 Not yet, I've tried what you are saying but it gives me another error: ImportError: libunitree_legged_sdk.so: cannot open shared object file: No such file or directory

heartInsert commented 1 week ago

Do you solved this problem?