booster-robotics-sdk-python 1.1.1__tar.gz → 1.2.0__tar.gz

{booster_robotics_sdk_python-1.1.1 → booster_robotics_sdk_python-1.2.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: booster_robotics_sdk_python
-Version: 1.1.1
+Version: 1.2.0
 Summary: Booster Robotics SDK Python bindings and examples.
 Author-Email: Booster Robotics <liupeize@boosterobotics.com>
 Requires-Python: >=3.10

{booster_robotics_sdk_python-1.1.1/sdk_release → booster_robotics_sdk_python-1.2.0}/include/booster/robot/b1/b1_loco_api.hpp

@@ -53,6 +53,8 @@ enum class LocoApiId {
     kUnloadCustomTrainedTraj = 2034,
     kEnterWBCGait = 2035,
     kExitWBCGait = 2036,
+    kMoveDualHandEndEffector = 2037,
+    kVisualKick = 2038,
 };
 
 class RotateHeadParameter {
@@ -462,6 +464,39 @@ public:
     HandIndex hand_index_;
 };
 
+class MoveDualHandEndEffectorParameter {
+public:
+    MoveDualHandEndEffectorParameter() = default;
+    MoveDualHandEndEffectorParameter(
+        const Posture &left_target_posture,
+        const Posture &right_target_posture,
+        int time_millis) :
+        left_target_posture_(left_target_posture),
+        right_target_posture_(right_target_posture),
+        time_millis_(time_millis) {
+    }
+
+public:
+    void FromJson(nlohmann::json &json) {
+        left_target_posture_.FromJson(json["left_target_posture"]);
+        right_target_posture_.FromJson(json["right_target_posture"]);
+        time_millis_ = json["time_millis"];
+    }
+
+    nlohmann::json ToJson() const {
+        nlohmann::json json;
+        json["left_target_posture"] = left_target_posture_.ToJson();
+        json["right_target_posture"] = right_target_posture_.ToJson();
+        json["time_millis"] = time_millis_;
+        return json;
+    }
+
+public:
+    Posture left_target_posture_;
+    Posture right_target_posture_;
+    int time_millis_ = 1000;
+};
+
 class GetFrameTransformParameter {
 public:
     GetFrameTransformParameter() = default;
@@ -742,6 +777,8 @@ enum class WholeBodyDanceId {
     kMoonWalk = 4,
     kBoxingStyleKick = 5,
     kRoundhouseKick = 6,
+    kShanHeGuRenDance = 7,
+    kGaiGeChunFengDance = 8,
 };
 
 class WholeBodyDanceParameter {
@@ -935,6 +972,28 @@ public:
     std::string tid_;
 };
 
+class VisualKickParameter {
+public:
+    VisualKickParameter() = default;
+    VisualKickParameter(bool start) :
+        start_(start) {
+    }
+
+public:
+    void FromJson(nlohmann::json &json) {
+        start_ = json["start"];
+    }
+
+    nlohmann::json ToJson() const {
+        nlohmann::json json;
+        json["start"] = start_;
+        return json;
+    }
+
+private:
+    bool start_;
+};
+
 }
 }
 } // namespace booster::robot::b1

{booster_robotics_sdk_python-1.1.1 → booster_robotics_sdk_python-1.2.0}/include/booster/robot/b1/b1_loco_client.hpp

@@ -273,6 +273,29 @@ public:
         return SendApiRequest(LocoApiId::kMoveHandEndEffector, param);
     }
 
+    /**
+     * @brief Move dual hand end-effector to target postures(position & orientation)
+     *
+     * @param left_target_posture Represents the target posture in base frame (torso frame) that the left hand end-effector should reach.
+     * It contains position & orientation.
+     * @param right_target_posture Represents the target posture in base frame (torso frame) that the right hand end-effector should reach.
+     * It contains position & orientation.
+     * @param time_mills Specifies the duration, in milliseconds, for completing the movement.
+     *
+     * @return 0 if success, otherwise return error code
+     */
+    int32_t MoveDualHandEndEffector(
+        const Posture &left_target_posture,
+        const Posture &right_target_posture,
+        int time_millis) {
+        MoveDualHandEndEffectorParameter move_dual_hand(
+            left_target_posture,
+            right_target_posture,
+            time_millis);
+        std::string param = move_dual_hand.ToJson().dump();
+        return SendApiRequest(LocoApiId::kMoveDualHandEndEffector, param);
+    }
+
     /**
      * @brief Stop hand end-effector movement
      *
@@ -534,6 +557,17 @@ public:
         return SendApiRequest(LocoApiId::kExitWBCGait, "");
     }
 
+    /**
+     * @brief side-foot kick
+     *
+     * @return 0 if success, otherwise return error code
+     */
+    int32_t VisualKick(bool start) {
+        VisualKickParameter parameter(start);
+        std::string param = parameter.ToJson().dump();
+        return SendApiRequest(LocoApiId::kVisualKick, param);
+    }
+
 private:
     std::shared_ptr<RpcClient> rpc_client_;
 };

booster_robotics_sdk_python-1.2.0/include/booster/robot/common/robot_shared.hpp

@@ -0,0 +1,72 @@
+#pragma once
+
+namespace booster {
+namespace robot {
+
+/*Robot mode */
+enum class RobotMode {
+    kUnknown = -1, // For error handling
+    kDamping = 0,  // All motor enter damping mode, robot will fall down if it is not supported
+    kPrepare = 1,  // Prepare mode, the robot keeps standing on both feet and can switch to walking mode
+    kWalking = 2,  // Walking mode, in walking mode, the robot can move, rotate, kick the ball, etc.
+    kCustom = 3,   // Custom mode, in custom mode, the robot can do some custom actions
+    kSoccer = 4,   // Soccer mode, in soccer mode, the robot can perform some soccer actions
+};
+
+enum class BodyControl {
+    kUnknown = 0,
+    kDamping = 1,               // Only active in damping mode, damping mode has no other body control
+    kPrepare = 2,               // Only active in prepare mode, prepare mode has no other body control
+    kHumanlikeGait = 3,         // Humanlike gait body control, in humanlike gait, the robot can walk like a human
+    kProneBody = 4,             // Prone body control, in prone body control, the robot can lie down、push-up
+    kSoccerGait = 5,            // Soccer gait body control, in soccer gait, the robot can move faster and do some soccer player like actions
+    kCustom = 6,                // Only active in custom mode, custom mode has no other body control
+    kGetUp = 7,                 // Get up body control, in get up body control, the robot can get up from lying down
+    kWholeBodyDance = 8,        // Whole body dance body control, in whole body dance, the robot can do some whole body dance actions
+    kShoot = 9,                 // Shoot body control, in shoot body control, the robot can scored with a powerful shot
+    kInsideFoot = 10,           // Inside foot kick body control, in inside foot kick body control, the robot can do precise inside foot kick actions
+    kGoalie = 11,               // Goalie body control, in goalie body control, the robot can perform goalie actions
+    kWBCGait = 12,              // Whole body control gait body control, in WBC gait, the robot walking by whole body control
+    kLionDancePreparePose = 13, // Lion dance prepare pose, in this body control, the robot will do lion dance prepare pose
+};
+
+enum class Action {
+    kUnknown = 0,
+    kHandShake = 1,
+    kHandWave = 2,
+    kHandControl = 3,
+    kDanceNewYear = 4,
+    kDanceNezha = 5,
+    kDanceTowardsFuture = 6,
+    kGestureDabbing = 7,
+    kGestureUltraman = 8,
+    kGestureRespect = 9,
+    kGestureCheer = 10,
+    kGestureLuckyCat = 11,
+    kGestureBoxing = 12,
+    kZeroTorqueDrag = 13,
+    kRecordTraj = 14,
+    kRunRecordedTraj = 15,
+};
+
+enum class Frame {
+    kUnknown = -1, // For error handling
+    kBody = 0,
+    kHead = 1,
+    kLeftHand = 2,
+    kRightHand = 3,
+    kLeftFoot = 4,
+    kRightFoot = 5,
+};
+
+enum class ProneBodyControlPosture {
+    kUnknown = 0,
+    kInactive = 1,
+    kPushUp = 2,
+    kLieDown = 3,
+    kSoccerLocomotion = 4,
+    kSoccerKicking = 5,
+};
+
+}
+} // namespace booster::robot

{booster_robotics_sdk_python-1.1.1 → booster_robotics_sdk_python-1.2.0}/internal_include/booster_internal/idl/robocup_msgs/Kick.h

@@ -262,6 +262,24 @@ public:
      */
     eProsima_user_DllExport double &robot_theta_to_field();
 
+    /*!
+     * @brief This function sets a value in member power
+     * @param _power New value for member power
+     */
+    eProsima_user_DllExport void power(double _power);
+
+    /*!
+     * @brief This function returns the value of member power
+     * @return Value of member power
+     */
+    eProsima_user_DllExport double power() const;
+
+    /*!
+     * @brief This function returns a reference to member power
+     * @return Reference to member power
+     */
+    eProsima_user_DllExport double &power();
+
 private:
     std_msgs::msg::Header m_header;
     double m_x{0.0};
@@ -270,6 +288,7 @@ private:
     double m_goal_x{0.0};
     double m_goal_y{0.0};
     double m_robot_theta_to_field{0.0};
+    double m_power{0.0};
 
 public:
     typedef Kick type;

{booster_robotics_sdk_python-1.1.1 → booster_robotics_sdk_python-1.2.0}/internal_include/booster_internal/robot/b1/b1_loco_internal_api.hpp

@@ -5,6 +5,8 @@
 #include <iostream>
 #include <booster/third_party/nlohmann_json/json.hpp>
 #include <booster_internal/robot/b1/b1_internal_api_const.hpp>
+#include <booster/robot/common/entities.hpp>
+#include <booster/robot/common/robot_shared.hpp>
 
 namespace booster_internal {
 namespace robot {
@@ -33,7 +35,7 @@ enum class LocoInternalApiId {
     kRLFancyKickBall = 100012,
 
     kPushUp = 100101,
-    kVisualKick = 100102,
+
     kGoalieDown = 100103,
     kGoalieUp = 100104,
     kReplayTrajectoryWithData = 100105,
@@ -42,6 +44,8 @@ enum class LocoInternalApiId {
     kLionDancePrepare = 100201,
     kLionDanceStart = 100202,
     kLionDanceMove = 100203,
+
+    kChangeModeWithDefaultGait = 100204
 };
 
 class MoveToTargetParameter {
@@ -187,6 +191,37 @@ public:
     int stance_action_index_;
 };
 
+enum class GaitType {
+    WholeBodyGait = 0,
+    DecoupledGait = 1
+};
+
+class ChangeModeWithDefaultGaitParameter {
+public:
+    ChangeModeWithDefaultGaitParameter() = default;
+    ChangeModeWithDefaultGaitParameter(booster::robot::RobotMode mode, GaitType gait_type) :
+        mode_(mode),
+        default_gait_type_(gait_type) {
+    }
+
+public:
+    void FromJson(nlohmann::json &json) {
+        mode_ = static_cast<booster::robot::RobotMode>(json["mode"]);
+        default_gait_type_ = static_cast<GaitType>(json["default_gait_type"]);
+    }
+
+    nlohmann::json ToJson() const {
+        nlohmann::json json;
+        json["mode"] = static_cast<int>(mode_);
+        json["default_gait_type"] = static_cast<int>(default_gait_type_);
+        return json;
+    }
+
+public:
+    booster::robot::RobotMode mode_;
+    GaitType default_gait_type_ = GaitType::WholeBodyGait;
+};
+
 class SquatParameter {
 public:
     SquatParameter() = default;
@@ -265,7 +300,6 @@ public:
     float kick_dir_;
     bool cancel_;
 
-
     void FromJson(nlohmann::json &json) {
         kick_speed_ = json["kick_speed"];
         kick_dir_ = json["kick_dir"];
@@ -353,18 +387,16 @@ public:
     float yaw_;
 };
 
-class VisualKickParameter {
+class LionDancePrepareParameter {
 public:
-    VisualKickParameter() = default;
-    VisualKickParameter(bool start) :
+    LionDancePrepareParameter() = default;
+    LionDancePrepareParameter(bool start) :
         start_(start) {
     }
 
-public:
     void FromJson(nlohmann::json &json) {
         start_ = json["start"];
     }
-
     nlohmann::json ToJson() const {
         nlohmann::json json;
         json["start"] = start_;
@@ -375,13 +407,12 @@ private:
     bool start_;
 };
 
-class LionDancePrepareParameter {
+class LionDanceMoveParameter {
 public:
-    LionDancePrepareParameter() = default;
-    LionDancePrepareParameter(bool start) :
+    LionDanceMoveParameter() = default;
+    LionDanceMoveParameter(bool start) :
         start_(start) {
     }
-
     void FromJson(nlohmann::json &json) {
         start_ = json["start"];
     }
@@ -395,23 +426,24 @@ private:
     bool start_;
 };
 
-class LionDanceMoveParameter {
+class LionDanceStartParameter {
 public:
-    LionDanceMoveParameter() = default;
-    LionDanceMoveParameter(bool start) :
-        start_(start) {
+    LionDanceStartParameter() = default;
+    LionDanceStartParameter(int dance_idx) :
+        dance_idx_(dance_idx) {
     }
+
     void FromJson(nlohmann::json &json) {
-        start_ = json["start"];
+        dance_idx_ = json["dance_idx"];
     }
     nlohmann::json ToJson() const {
         nlohmann::json json;
-        json["start"] = start_;
+        json["dance_idx"] = dance_idx_;
         return json;
     }
 
 private:
-    bool start_;
+    int dance_idx_;
 };
 
 }

{booster_robotics_sdk_python-1.1.1 → booster_robotics_sdk_python-1.2.0}/internal_include/booster_internal/robot/b1/b1_loco_internal_client.hpp

@@ -97,17 +97,6 @@ public:
         return SendApiRequest(LocoInternalApiId::kPushUp, param);
     }
 
-    /**
-     * @brief side-foot kick
-     *
-     * @return 0 if success, otherwise return error code
-     */
-    int32_t VisualKick(bool start) {
-        VisualKickParameter parameter(start);
-        std::string param = parameter.ToJson().dump();
-        return SendApiRequest(LocoInternalApiId::kVisualKick, param);
-    }
-
     /**
      * @brief side-foot kick
      *
@@ -295,9 +284,10 @@ public:
      *
      * @return 0 if success, otherwise return error code
      */
-    int32_t LionDanceStart() {
-        std::string param = "{}";
-        return SendApiRequest(LocoInternalApiId::kLionDanceStart, param);
+    int32_t LionDanceStart(int dance_id) {
+        LionDanceStartParameter param(dance_id);
+        std::string json = param.ToJson().dump();
+        return SendApiRequest(LocoInternalApiId::kLionDanceStart, json);
     }
 
     /**
@@ -311,6 +301,17 @@ public:
         return SendApiRequest(LocoInternalApiId::kLionDanceMove, json);
     }
 
+    /**
+     * @brief Change mode with default gait
+     *
+     * @return 0 if success, otherwise return error code
+     */
+    int32_t ChangeModeWithDefaultGait(booster::robot::RobotMode mode, GaitType gait_type) {
+        ChangeModeWithDefaultGaitParameter param{mode, gait_type};
+        std::string json = param.ToJson().dump();
+        return SendApiRequest(LocoInternalApiId::kChangeModeWithDefaultGait, json);
+    }
+
 private:
     std::shared_ptr<RpcClient> rpc_client_;
 };

{booster_robotics_sdk_python-1.1.1 → booster_robotics_sdk_python-1.2.0}/pyproject.toml

@@ -7,7 +7,7 @@ build-backend = "scikit_build_core.build"
 
 [project]
 name = "booster_robotics_sdk_python"
-version = "1.1.1"
+version = "1.2.0"
 description = "Booster Robotics SDK Python bindings and examples."
 requires-python = ">=3.10"
 authors = [

{booster_robotics_sdk_python-1.1.1 → booster_robotics_sdk_python-1.2.0}/sdk_release/example/high_level/b1_loco_example_client.cpp

@@ -285,7 +285,11 @@ int main(int argc, char const *argv[]) {
             } else if (input == "mw") {
                 res = client.ChangeMode(booster::robot::RobotMode::kWalking);
             } else if (input == "mc") {
-                res = client.ChangeMode(booster::robot::RobotMode::kCustom);
+                res = client.ChangeMode(booster::robot::RobotMode::kSoccer);
+            } else if (input == "vs1") {
+                res = client.VisualKick(true);
+            } else if (input == "vs0") {
+                res = client.VisualKick(false);
             } else if (input == "w") {
                 x = 0.2;
                 y = 0.0;