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AgiBot SDK

Welcome to the AgiBot SDK! This repository contains the official Software Development Kit for AgiBot robotic platforms, including the ZSL-1 model. It provides a comprehensive set of tools, libraries, and documentation to help you develop advanced applications for your robot.

🌟 Features

The SDK offers both high-level and low-level control interfaces, giving you flexible and powerful ways to interact with your robot.

• High-Level Control: Simple commands for complex actions.
  • standUp() / lieDown(): Basic stance control.
  • move(vx, vy, yaw_rate): Walk in any direction.
  • jump() / frontJump() / backflip(): Perform acrobatic maneuvers.
  • shakeHand(): Execute pre-programmed social interactions.
  • attitudeControl(...): Fine-tune the robot's body orientation.
• Low-Level Control: Direct access to individual motors.
  • sendMotorCmd(...): Set joint angles, velocities, and torques.
• Sensor Data Access: Get real-time feedback from the robot's sensors.
  • getQuaternion() / getRPY(): Read IMU orientation data.
  • getBodyAcc() / getBodyGyro(): Get accelerometer and gyroscope readings.
  • getMotorState(): Access detailed joint-level data (position, velocity, torque).

🚀 Getting Started

Follow these steps to get your development environment set up and run the included demos.

Prerequisites

• OS: Ubuntu 22.04
• Build Tools: CMake 3.8+, GCC 11+
• Libraries: Eigen3, Boost
• Language: Python 3

Setup & Installation

1. Network Configuration: Connect your computer to the robot's network (Wi-Fi or Ethernet). The robot's default IP is 192.168.234.1 (Wi-Fi) or 192.168.168.168 (Ethernet). For detailed instructions, see the Deployment Guide.

2. Robot-Side Setup: SSH into the robot and configure it to send data to your computer's IP address. Full steps are in the Deployment Guide.

3. SDK Libraries: The required shared libraries (.so files) for both C++ and Python are included in the lib/ directory, sorted by architecture (x86_64, aarch64).

Running the Demos

The demo/ directory contains examples for both C++ and Python.

C++ Demo:

# Navigate to the C++ demo directory
cd demo/zsl-1/cpp

# Create a build directory
mkdir build && cd build

# Configure and compile the project
cmake ..
make -j6

# Run the demo
./highlevel_demo

Python Demo:

# Navigate to the Python examples directory
cd demo/zsl-1/python/examples

# Run the high-level control demo
python3 highlevel_demo.py

📚 Documentation

For more in-depth information, please refer to the official documentation:

• API Reference: Detailed descriptions of all SDK functions.
• Deployment Guide: Step-by-step setup instructions.
• Architecture Overview: An inside look at how the SDK is designed.

📁 Repository Structure

.
├── demo/             # Demo applications (C++ and Python)
├── docs/             # Detailed documentation files
├── include/          # C++ header files for the SDK
└── lib/              # Pre-compiled library files (.so) for different architectures

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