CCBR Leg Test

This repository provides a compact SDK and examples for controlling Unitree actuators, including the GO-M8010-6, A1, and B1 motors. It includes both C++ and Python examples, as well as a GUI for higher-level control.

Quick Start

Requirements

• Supported motors: GO-M8010-6, A1, B1
• GCC version:
  • x86 platform: GCC >= 5.4.0
  • ARM platform: GCC >= 7.5.0

Check your GCC version with:

gcc --version

Build Instructions

1. Create a build directory and compile the code:

mkdir build
cd build
cmake ..
make

2. After a successful build, example executables will be available in the build/ folder.

Running the GUI Application

The unitree_leg_gui folder contains a Python-based graphical user interface (GUI) for controlling a robotic leg. This GUI provides a higher-level interface compared to the C++ and Python examples, allowing for real-time control and feedback.

Steps to Run the GUI

1. Navigate to the unitree_leg_gui directory:

cd unitree_leg_gui

2. Run the main.py script:

python3 main.py

3. The GUI window will open, providing controls for:
   • Live Feedback: Displays joint angles, end-effector position, motor torques, and motor status (temperature, errors).
   • Control Modes: Switch between inverse kinematics (IK) and direct angle control.
   • Jump Motion: Execute predefined jump scripts with adjustable timing parameters.

Key Features of the GUI

• Live Feedback: Continuously updates joint angles, end-effector position, and motor torques in real-time.
• Control Modes:
  • IK Mode: Specify the desired position of the end-effector (x, y, z) in millimeters. The GUI calculates the required joint angles using inverse kinematics.
  • Angles Mode: Directly control the joint angles (θ1, θ2, θ3) in radians.
• Jump Motion: Execute scripted jump motions with adjustable parameters for crouch, hold, and explode phases.

Code Overview

• gui_leg.py: The main entry point for the GUI. Handles user interactions, motor commands, and live feedback updates.
• kinematics.py: Provides forward and inverse kinematics calculations for the robotic leg.
• config.py: Centralized configuration for motor parameters, limits, and default values.
• jump_control.py: Implements the logic for scripted jump motions.

Notes

• Ensure proper permissions for accessing /dev/ttyUSB0 (e.g., sudo or chmod).
• Default serial baud rates and timeouts are critical for motor stability. Avoid modifying them unless necessary.

For detailed documentation, refer to the comments within the code files.