Please note that SDK version ≥ 3.4 is applicable for Go1 2.3 The dependencies required by the SDK and its running permissions ¶ This method is to use the serial port of the board to directly read the information of the ultrasonic module. Unitree provides the sdk for use. The sdk is located at ~/Unitree/sdk/ultraSoundSDK_RasPi (the one on Nano13 is also in the corresponding position). After the program starts, it will occupy the serial port, so before using this method, you need to kill the program that occupies the device. Desired yaw-pitch-roll Euler angle, with euler[0] = Roll,euler[1] = Pitch,euler[2] = Yaw.RPY setting can be used in mode 1 as target orientation.Yaw setting can be used in mode 3 as target yaw angle. If software version is Go1_2022_01_14 or earlier (sport mode <= 1.34.0), you need to update firmware following step 4.

gst-launch-1.0 udpsrc port=9201 ! application/x-rtp, media=video, encoding-name=H264 ! rtph264depay ! h264parse ! omxh264dec ! videoconvert ! autovideosink 7.3.4 Simultaneously acquire images from the front camera of the head and the camera of the chin ¶ The previous world record MIT mini cheetah is 3.7m/s; This speed comes from the product's ultimate speed test, and for safety and stability, the actual speed will be limited. For long-term outdoor operation, please use it in cool weather. Please keep a certain safe distance from the robot when using, especially do not let minors touch the robot which is powered on. The 5 groups of cameras are distributed on the front face, chin, left and right sides of the fuselage and abdomen. In terms of hardware, the front camera and chin camera are connected to the Nano on the head (192.168.123.13), the cameras on both sides of the fuselage are connected to the Nano (192.168.123.14), and the belly camera is connected to the main Nano or NX (192.168 .123.15) on. The head and body of Go1-Edu are distributed with 3 groups of ultrasonic modules, which can be developed and used with the programs we provide.The Super Sensory System includes five wide-angle stereo depth cameras, hypersonic distance sensors, and an integrated processing system ttyTHS1, ttyAMA0 are the serial ports on Nano and RasPi respectively, which have been configured on the system, do not modify the system configuration when using, so as not to make the device unusable. 6.2 SDK ¶ It is established when the IMU is powered on. The Z axis of the IMU is in the direction of gravity, and the XY is based on the time when the power is turned on. The obtained angular velocity is in the initial coordinate system. gst-launch-1.0 udpsrc port=9201 ! application/x-rtp, media=video, encoding-name=H264 ! rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! autovideosink It is recommended to use cable connection to update firmware, but connecting WIFI("Unitree_Go1******") is also an option.

Desired x and y position in the inertial frame, which is established at the beginning instance of the sport mode. Position setting is used in mode 3 as target position.If software version is Go1_2022_01_26 or later (sport mode >= 1.36.0)，simply update software directly. Running new programms on early firmware is problematic, our robot dog cannot standing up or work under this circumstance. Desired robot forward speed and side speed in the body frame. Velocity setting is used in mode 2 as target linear velocity. The following content is applicable to Go1 SDK version 3.5.1, other versions of Go1 SDK and A1 sports mode SDK can also be referred to. 3.1.1 Main control commands in the HighCmd structure ¶ Among them, the first five call the camera locally, just compile and run directly; the two transmission samples, one for sending and one for receiving, need to be run separately. 7.3 SDK usage example ¶

The picture above is the code of the routine. Two programs are provided for testing. One is to use the same color for all lamp beads, and the other is to combine different colors of different lamp beads to form a new lighting effect. Please read the Readme file carefully before use, which contains the dependencies required by the SDK and the method of compiling and running. On both sides of the head of Go1, there are two light strips, and we also provide corresponding sdk for developers to use. 5.1 Hardware and SDK ¶Motor data, 20 MotorState structure arrays, the first 12 of which are valid, and the number of each motor can refer to the quadruped.hMotorState structure