Unitree a1 developer guide 6 Array Microphone. About Us. A1 Motor. A1 Tutorials Quadruped A1. This document will provide a simple example of reinforcement learning control for Go2. 1. 用户可通过订阅 DDS 话题 “rt/lowcmd” 来发送电机、电池、自动充电、电机电源开关的控制指令，数据格式如 LowCmd_. I don’t really know where the a1_real package is comming from, but according to this guide it should be copied to the build folder in catkin_ws with the catkin_make command. Official OpenSource. unitree_guide 是 宇树出版的 <<四足机器人控制算法--建模、控制与实践 >> 的配套开源控制算法工程. 0 - Free download as PDF File (. Book Online. Unitree A1 User Manual v1. Provides detailed guides, demo routines, and API references for Unitree Robotics software development. Ultra-wide Joint Numbers and Joint Limits. unitree_ sdk2 is an SDK developed by Unitree Technology for the new generation of robots. ( only Chinese version now ) Overview The unitree_guide is an open source project for controlling the quadruped robot of Unitree Robotics, and it is also the Unitree quadruped robot launched a new power intelligent inspection solution, the use, development and maintenance of content in it. Super Robot Waterproof Joint：B1-16. unitree_legged_sdk is an SDK package used to develop Aliengo, A1, and Go1 robots in real environments. Purchase Online. Use the Go2 charging pad with the corresponding return charge marking board to achieve the automatic return charge function based on Go2's built-in L1. Last Updated On：2025-03-12 15:22:46. m，最大拉力（在 3. 28. Robot - Industry. Go2 B2 / B2-W G1 H1 / H1-2 Go1 A1 / Aliengo Unitree PUMP Unitree Sim. 下载 unitree_sdk2 压缩包并解压至用户主目录。打开一个终端，并依次执行下列命令以安装 unitree_sdk2: cd ~/unitree_sdk2/ mkdir build cd build cmake . A1 电机. You can ask me questions and inquire about the relevant content in the document center. Subscription/Publish: The receiver subscribes to a message, and the sender sends messages to the receiver according to the subscription list. previous mode. Unilidar SDK User This chapter will introduce how users can set up an environment, configure parameters, download and install SDK, and create their own application and run it successfully after receiving EDU-Go2. Camera angle adjustment Warm Tips for the Development and Use of Unitree Humanoid Robots: Due to the preference of the general public for movements that are closer to and more natural like those of real humans, we kindly request everyone to 您好，我是您的ai文档助理。您可以向我提问，查询文档中心的相关内容。 G1 SDK Development Guide. Ultra-wide A1SoftwareDeveloperGuide 6 Leg0FR=rightfrontleg Leg1FL=leftfrontleg Leg2RR=rightrearleg Leg3RL=leftrearleg Joint0：Hip,Hipjoint Joint1：Thigh,Thighjoint A1 Software Developer Guide Version 1. L2 update. Get SDK. H1-2 has been upgraded based on the H1 model, boasting enhanced motion capability and degrees of freedom. Unitree 4D LiDAR L2 User Manual. At this time, press L2+A, H1 will A1. Explore detailed setup procedures, operational guidelines, and programming techniques tailored for the A1 robot across various applications. G1-User Manual; G1 Remote template="""You are an expert human annotator working for the search engine Bing. H1 uses DDS as the message middleware, and the main data interaction adopts two modes: subscription/publish and request/response. We will develop a one-button shutdown function as soon as possible, and H1 部分关节采用了 Unitree 自研 M107 电机，具备出色的性能和特点。该电机的最大扭矩为 360N. Network environment It is necessary to set the network card in the View and Download Unitree A1 PRO user manual online. Download. H1 SDK Development Guide. The basic communication is mainly to obtain the motor, battery, remote control, IMU data and publish rt/lowstate, subscribe to the control command rt/lowcmd and control the motor and battery. The following will explain how to use isaac_gym simulation platform trains the Go2 control algorithm. Go2. Developers can only use the development computing unit for secondary development. 0 07. Explore Unitree. Add to my manuals. Overview; Quick-Start; Calibration; Setup. pdf), Text File (. 接口说明 底层控制指令. News. Go Further with Higher Efficiency. A1. Unitree PUMP. Sign In Upload. BasicActionunder“SportMode”(3-AxisAttitudeand3-AxisPositionControlwhenStanding) NO ThePositionofStickor ButtononJoystick OperationDiagram RobotSchematic Remarks 此章节主要包含 4 部分内容，完整的讲解从获取 sdk 到烧录验证代码功能的完整开发过程，您可以在不同的开发阶段选择相应的内容参考，完成产品功能的开发。 Unitree A1. 宇树提供了电机工具箱 Unitree MotorTools 让用户可以更方便地进行配置工作，如更改 ID、电机固件升级等。 解压 Unitree MotorTools 工具箱，进入 bin 文件夹后可以看到一些可执行程序，这里提供了常见的一些对电机修改的工具。 A1. 5NM allows A1 to easily achieve Unitree Go2 robot dog is equipped with 4D ultra-wide-angle LiDAR, creating a new species with body intelligence, Unitree quadruped (consumer-grade quadruped) has advanced configuration and cool appearance, but also has a 本文介绍如何在Gazebo仿真器中运行 unitree_guide 来快速入门 unitree_guide 工程。关于 unitree_guide 的其他用法，请参考《四足机器人控制算法--建模、控制与实践》实体书章节，这本书演示了机器人关节电机控制方法 Unitree Developer Conference 2023年7月に名古屋国際会議場にて開催されました、Unitree Developer Conference 2023につきまして報告ページを公開しております。 一部のユーザ講演につきまして、動画をYouTubeにて公開しておりますので、Unitree製品ご活用の参考になれば幸い A1. Hello, I am your AI Document Assistant. A summary of frequently asked questions to help you find and solve various problems by yourself. Packing. 1; 2; G1 Tutorial videos. Help Center. secondary development of vision professional (machine learning, reinforcement learning, etc. B2-W. If you have any technical questions, please send them to A more detailed unitree_guide document is available at unitree developer site. Software and SDK. G1 Manual. [7] For more detailed warranty terms, please read the product warranty brochure. sudo make install. Walking, following Charging Pad - L1 Return Charge Guide. A1; Which statement returns version information, that is the version; B1. [9] If any change in the appearance of the product, please refer to the actual Blind guide legged robot Based on Unitree A1. AI. Documentation and manuals. 无搜索结果. mode 2 6. pdf in chapter 4. Flexible, Create Endless Possibilities. pub unitree Go2 B2 / B2-W G1 H1 / H1-2 Go1 A1 / Aliengo Unitree PUMP Unitree Sim. The four legs are divided into two groups, front and rear, and these two groups are identical in terms of 底层通信主要是获取电机，电池，遥控器，IMU数据并发布 rt/lowstate，订阅控制命令 rt/lowcmd 并控制电机、电池。. 2). mode 0. ssh/id_rsa. A1 PRO robotics pdf manual download. Go Beyond the Limits. 4. ##Context##Each webpage that matches a Bing search query has three pieces of information displayed on the result page: the url, the title and The SSID of the Wifi network of A1’s hot-spot begins with UnitreeRoboticsA1-000, where the 000 represent the A1’s model number and the default password is 00000000 or 8 zeros. unitree_sdk2_python Python interface 内容由 ai 大模型生成，不确保完全正确，请仔细甄别 Develop mode. Warm Tips for the Development and Use of Unitree Humanoid Robots. When H1 is in the suspension state and in the damping state, press the L2+R2 key combination on the remote control at the same time, and H1 enters the Develop mode. BenBen. You can follow the document content below to use the remote control to demonstrate the functionality of the H1. Unitree Sim. Highly Integrated，Pushing Limits. Spatial Positioning API: Provides an accurate stadium position information mode. Contribute to Li-Ruiqi777/BlindGuideDog development by creating an account on GitHub. A1 Realsense SDK usage example The robot dog perceives the Realsense environment that has been configured on the motherboard, and can use the Unitree quadruped robot launched a new power intelligent inspection solution, designed a series of solutions for dangerous, urgent and repetitive tasks, and provided efficient guarantee for power system construction, operation and 您好，我是您的ai文档助理。您可以向我提问，查询文档中心的相关内容。 Transportation and control computing unit is dedicated to Unitree motion control program and not open to the public. idl 所示。 电机控制命令：机身共12 个电机 unitree_legged_sdk An SDK package used to develop Aliengo, A1, Go1 and B1 robots in real environments. Transportation and control computing unit is dedicated to Unitree motion control program and not open to the public. L1 3D Model. 超 Warm Tips for the Development and Use of Unitree Humanoid Robots: Due to the preference of the general public for movements that are closer to and more natural like those of real humans, we kindly request everyone to 本文主要用于说明如何搭建宇树科技A1四足机器人开源代码运行环境，代码老祖是MIT的开源代码，思想是一样的，环境配置比较复杂，网上保姆级教程较少，因此在这里我提取一位大佬的网页内容来供大家交流学习，需要提前准备好一个游戏手柄，键盘无法控制机器狗运动，原始仓库采用 Docker 安装 Development Guide Visual Recognition API: Built-in YOLO11 latest generation real-time target detection algorithm, providing a rich stadium information interface. To achieve this enter the command terminal of 安装 unitree_sdk2. Bullish. Idle. mode 1. given are based on C++. 3m/s in an instant, possess excellent balance ability; and the torque of 33. Like animals, quadruped robots have a symmetrical structure with a trunk and four limbs. It For bottom-level development. 12. . New purchase of Unitree So the commands are from the A1 software developer guide (it’s called Unitree_A1_Software_Guide_v2. Unilidar User Manual. h” should be included. Share. 0 Unitree; Page 2 In Sport mode, the maximum joint speed of 21rad/s allows A1 to speed up to 3. 2020 1 A1 Software Developer Guide Catalogue A1 Soft keygen -t rsa Press Enter for three times 4 A1 Software Developer Guide scp -/. Initial user Unitree quadruped robot launched a new power intelligent inspection solution, designed a series of solutions for dangerous, urgent and repetitive tasks, and provided efficient guarantee for power system construction, operation and The content is generated by an AI model and may not be entirely accurate; please carefully discern. 超 Hello, I am your AI Document Assistant. 内容由 ai 大模型生成，不确保完全正确，请仔细甄别 全球高性能四足机器人行业开创者，全球四足机器人行业应用的领航者。 Hello, I am your AI Document Assistant. Please visit Unitree Robotics Website for more related terms and policies, and comply with 您好，我是您的ai文档助理。您可以向我提问，查询文档中心的相关内容。 用户接口模块电源参数; usb接口电源参数(type-c) 注意：此接口供电取自b2腹部pc处理器，与b2腹部处理器type-c接口共享供电。. Pre-requisite A1. Tip: Limited to the current technique and computing power resources, part of function shall Unitree Technology Documentation Center provides Python development resources and guides for users. Standing, in force control. 检查软件版本，可尝试通过APP读取到当前的运动程序版本（sport mode），如果无法读取，则按照步骤4操作。 Hello, I am your AI Document Assistant. L1 update. Voice Intercom Control. 168. Download All New. state. This website is about guidance and frequently asked questions about the secondary development of Unitree products. If you have any technical questions, please send them to support@unitree. Explore detailed setup procedures, operational guidelines, and programming techniques tailored for the A1 robot across G1-EDU onboard standard with 1 operation and control computing unit, and one development computing unit. ## 6. 或者安装到指定目录下: cd Unitree quadruped robot launched a new power intelligent inspection A1 / AlienGo. mode 2. Each arm of the H1-2 possesses 7 degrees of freedom, each leg has 6, and the waist features 1 degree of freedom, culminating in a total of 27 degrees of freedom across the entire machine. In the text editor that pops up, just comment out the last line of the startup script. [8] The above parameters may vary in different scenarios and configurations, please subject to actual situation. unitree_sdk2 An SDK package used to develop Go2, B2, H1, G1 robots in real environments. 5cm 力臂等效条件下）为 10000N，采用了中空轴线的设计，使得电机在结构上更加轻量化、紧凑化。 A1. You can press L2+A to confirm whether you have entered the debug mode. 您好，我是您的ai文档助理。您可以向我提问，查询文档中心的相关内容。 Note that if you install the library to other places other than /opt/unitree_robotics, you need to make sure the path is added to "${CMAKE_PREFIX_PATH}" so that cmake can find it with "find_package()". Unilidar Point Cloud Software. controlled by. Application Development; Get SDK. 131. For more information, please read the secondary development manual. ) Optional Intelligent Modules. Hardware preparation 1. all mode. Unitree A1. H1 has deployed Unitree’s motion control program. You can control the movement of a single joint of the robot based on the low The unitree_guide is an open source project for controlling the quadruped robot of Unitree Robotics, and it is also the software project accompanying 《四足机器人控制算法--建模、控制与实践》 published by Unitree Robotics. SDK Introduction. Unitree Fitness PUMP. This library is the most commonly Dear developer, welcome to Unitree Document Center! Here, we provide you with a variety of resources, including easy-to-understand documentation, practical sample code, and concise tutorials. 通过该包,你可以学习机器人关节电机控制方法,同时也可学习简单的足式机器人力控算法. 欢迎使用Unitree宇树客户服务，宇树为您提供7×24小时多样化支持计划和专家服务， Component Name. When you need to use the SDK for development and debugging, please make sure that H1 has entered the debug mode to stop the motion control program from sending commands, which can avoid potential command conflicts. euler, bodyHeight. Contribute to kenloumixx/unitree_base development by creating an account on GitHub. B1. 123. The current software version does not support GST video streaming yet. 0. Store / Cooperate. A1/Aliengo. Due to the preference of the general public for movements that are closer to and more natural like those of real humans, we kindly request everyone to pay attention to the following guidelines, especially when shooting videos of the humanoid robots: 在旧的固件版本上运行新的程序会导致机器狗无法站立。 1. Development on Mac and Windows systems is currently not supported, and development on the built-in computer of Go2 is also not supported. cc. 161 as well as the Raspberry Pi’s ip address 192. We would like to show you a description here but the site won’t allow us. You can choose corresponding content references at different development stages to quickly familiarize yourself with the SDK and Go2. H1 部分关节采用了 Unitree 自研 M107 电机，具备出色的性能和特点。该电机的最大扭矩为 360N. com. You can browse these documents to help A1 Realsense SDK usage example The robot dog perceives the Realsense environment that has been configured on the motherboard, and can use the D435i camera through librealsense. none. Various rich official open source projects of Page 1 Quick Start Guide V1. Fitness. Access comprehensive user manuals, tutorials, and documentation for the Unitree A1 quadruped robot. txt) or read online for free. so” and header file ”unitree_legged_sdk. Start-up and shut-down. [6] For more information, please read the secondary development manual. L1 Quike Start Guide. Delete from my manuals. Before control the robot, the library file “libunitree_legged_sdk. 内容由 ai 大模型生成，不确保完全正确，请仔细甄别 Hello, I am your AI Document Assistant. Once connected to the WiFi network, one can access A1’s Nvidia ip address 192. B2. . 高密集成 unitree_guide. Download Table of Contents Contents. technical support - firmware update or contact Unitree staff. uwyjjzsorssdkkyszwohoarocvclyttolsrbowliozxmdkyvckdaahtidtdhqukepxibkqgwpev
