robodog 0.1.2.2

A Python library for controlling AlphaDog robotic dogs

RoboDog SDK

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Python SDK for AlphaDog robotic dog control.

Installation

pip install robodog

Quick Start

1. Ensure your computer is on the same network as the robotic dog
2. Note the IP address of the robotic dog (default: 10.10.10.10)

Basic Example

from robodog import Dog

with Dog() as dog:
    # Adjust standing height
    dog.body_height = 0.25
    time.sleep(2)
    
    # Restore default height
    dog.set_parameters({'body_height': 0.23})

Parameter Control Features

The SDK provides comprehensive parameter control capabilities:

1. Basic Motion Parameters

dog.vx = 0.2    # Forward velocity (-1.0 to 1.0)
dog.vy = 0.1    # Lateral velocity (-1.0 to 1.0)
dog.wz = 0.1    # Rotational velocity (-1.0 to 1.0)

2. Posture Control

dog.roll = 0.1          # Roll angle (-0.5 to 0.5)
dog.pitch = 0.1         # Pitch angle (-0.5 to 0.5)
dog.yaw = 0.1           # Yaw angle (-0.5 to 0.5)
dog.body_height = 0.25  # Body height (0.1 to 0.35)

3. Gait Parameters

dog.foot_height = 0.08     # Foot lift height (0.0 to 0.15)
dog.swing_duration = 0.3   # Swing period (0.1 to 1.0)
dog.friction = 0.6         # Friction coefficient (0.1 to 1.0)

4. Advanced Control Features

Combined parameter settings:

# Set gait parameters
dog.set_gait_params(
    friction=0.6,  # Friction coefficient
    scale_x=1.2,   # Support surface X scaling
    scale_y=1.0    # Support surface Y scaling
)

# Set motion parameters
dog.set_motion_params(
    swaying_duration=2.0,  # Swaying period
    jump_distance=0.3,     # Jump distance
    jump_angle=0.1         # Jump rotation angle
)

# Set control parameters
dog.set_control_params(
    velocity_decay=0.8,        # Velocity decay
    collision_protect=1,       # Collision protection
    decelerate_time=2.0,      # Deceleration delay
    decelerate_duration=1.0    # Deceleration duration
)

Example Programs

Check out examples/demo_all_params.py for a complete demonstration including:

• Basic motion control demo
• Advanced motion parameter adjustment
• Complete parameter configuration showcase
• User mode switching demonstration

Running the example:

python examples/demo_all_params.py

Contributing

Issues and pull requests are welcome. For major changes, please open an issue first to discuss proposed changes.

License

This project is licensed under the MIT License - see the LICENSE file for details.

Contact

For questions or suggestions:

• Submit GitHub Issues
• Email: [e-mail]