rby1-sdk 0.3.0

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rby1-sdk

Prerequisites

• CMake: Version 3.30 or higher
  Install using snap:

  snap install cmake
  

• Conan: C++ package manager required for dependency management
  Install using pip:

  pip install conan
  

• Poetry: Python dependency management and packaging tool
  Install using curl:

  curl -sSL https://install.python-poetry.org | python3 -
  source ~/.profile
  

Installation

Clone the repository with submodules:

git clone --recurse-submodules [e-mail]:RainbowRobotics/rby1-sdk.git

Configure

Configure Conan dependencies and build settings:

conan install . -s build_type=Release -b missing -of build

Build

Build the project using CMake:

cmake --preset conan-release -D BUILD_EXAMPLES=ON
cmake --build --preset conan-release

Usage

Run the examples:

• C++ Example:

  ./build/examples/example_demo_motion [RPC IP]:50051
  

• Python Example:

  poetry shell
  python examples_python/demo_motion.py 
  

ARM Intellisense Issue

For issues with ARM Intellisense, refer to the following GitHub Issue.

To fix the Intellisense problem, add the following code at the top of your source file:

// Add this at the top of your source file
#if __INTELLISENSE__
#undef __ARM_NEON
#undef __ARM_NEON__
#endif

Resources and Support

• Documentation: https://rainbowrobotics.github.io/rby1-dev/
• Official Website: Rainbow Robotics
• Official Support Email: [e-mail]
• GitHub Discussions: Join the Discussion

Factory Default Joint Position PID Gain

Joint	P Gain (Factory Default)	I Gain (Factory Default)	D Gain (Factory Default)
torso_0	80	15	200
torso_1	80	15	200
torso_2	80	15	200
torso_3	35	5	80
torso_4	30	5	70
torso_5	30	5	70
torso_6	100	5	150
right_arm_0	80	15	200
right_arm_1	80	15	200
right_arm_2	80	15	200
right_arm_3	35	5	80
right_arm_4	30	5	70
right_arm_5	30	5	70
right_arm_6	100	5	120
left_arm_0	80	15	200
left_arm_1	80	15	200
left_arm_2	80	15	200
left_arm_3	35	5	80
left_arm_4	30	5	70
left_arm_5	30	5	70
left_arm_6	100	5	150
head_0	800	0	4000
head_1	800	0	4000