3robotics

3robotics SDK

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A comprehensive Python SDK for AlphaDog robotic dog control, providing intuitive programming interfaces for robot motion control, parameter adjustment, and real-time interaction.

System Requirements

⚠️ Important: This SDK requires Python 3.9 specifically

• Python Version: Python 3.9 (Required - other versions are not supported)
• Operating System: Windows, macOS, Linux
• Network: Robot and computer must be on the same network

Installation

Prerequisites

First, ensure you have Python 3.9 installed:

# Check Python version
python --version  # Should show Python 3.9.x

# If you don't have Python 3.9, install it from python.org

# Quick version check using our tool
python check_python_version.py

Install 3robotics SDK

# Install from PyPI
pip install 3robotics

# Or install from source
git clone https://github.com/3robotics/3robotics.git
cd 3robotics
pip install -e .

Quick Start

1. Network Setup: Ensure your computer is on the same network as the robotic dog
2. IP Configuration: Note the IP address of the robotic dog (default: 10.10.10.10)
3. Python Environment: Verify Python 3.9 is active in your environment

Basic Example

from 3robotics import Dog
import time

# Connect to the robot dog
with Dog() as dog:
    print("Connected to 3robotics!")
    
    # Adjust standing height
    dog.body_height = 0.25
    time.sleep(2)
    
    # Move forward slowly
    dog.vx = 0.2
    time.sleep(3)
    
    # Stop movement
    dog.vx = 0.0
    
    # Restore default height
    dog.set_parameters({'body_height': 0.23})

Advanced Connection Options

from 3robotics import Dog

# Connect with custom IP
dog = Dog(host="192.168.1.100")

# Connect with custom port
dog = Dog(host="10.10.10.10", port=9090)
    
# Use context manager for automatic cleanup
with Dog(host="10.10.10.10") as dog:
    # Your robot control code here
    pass

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

The examples directory contains comprehensive demonstrations:

Available Examples

1. demo_basic_movement.py - Basic motion control and posture adjustment
2. demo_advanced_movement.py - Advanced motion parameters and gait control
3. demo_modes.py - User mode switching and state management
4. keyboard_control.py - Real-time keyboard control interface
5. test.py - System testing and validation

Running Examples

# Navigate to the examples directory
cd examples

# Run basic movement demo
python demo_basic_movement.py

# Run keyboard control (requires pynput)
pip install pynput
python keyboard_control.py

# Run advanced movement demo
python demo_advanced_movement.py

Keyboard Control

The keyboard control example provides real-time control:

• W/S: Forward/Backward movement
• A/D: Left/Right movement
• Q/E: Rotate left/right
• R/F: Increase/Decrease body height
• SPACE: Emergency stop
• ESC: Exit program

API Reference

Core Classes

• Dog: Main robot control interface
• UserMode: Robot operation modes (IDLE, TROT, etc.)
• DogController: Low-level parameter control
• ROSClient: ROS communication handler

Key Methods

# Robot connection
dog = Dog(host="10.10.10.10", port=9090)
dog.connect()
dog.disconnect()

# Parameter control
dog.set_parameters(params_dict)
dog.set_gait_params(friction=0.6, scale_x=1.2)
dog.set_motion_params(jump_distance=0.3)
dog.set_control_params(velocity_decay=0.8)

# State queries
current_state = dog.get_state()
position = (dog.x, dog.y, dog.z)

Troubleshooting

Common Issues

1. Connection Failed

   • Check network connectivity
   • Verify robot IP address
   • Ensure robot is powered on and ready

2. Python Version Error

   • This SDK requires Python 3.9 specifically
   • Install Python 3.9 from python.org

3. Import Errors

   • Install required dependencies: pip install -r requirements.txt
   • For keyboard control: pip install pynput

4. Performance Issues

   • Reduce control frequency if network is slow
   • Check robot battery level
   • Minimize network interference

Debug Mode

Enable debug logging for troubleshooting:

import logging
logging.basicConfig(level=logging.DEBUG)

from 3robotics import Dog
# Debug information will be printed

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: towardsrwby@gmail.com