init

unitree_SDK/include/unitree/robot/g1/arm/g1_arm_action_api.hpp

@@ -0,0 +1,37 @@
+#pragma once
+
+#include <unitree/common/json/jsonize.hpp>
+#include <variant>
+
+namespace unitree {
+namespace robot {
+namespace g1 {
+/*service name*/
+const std::string ARM_ACTION_SERVICE_NAME = "arm";
+
+/*api version*/
+const std::string ARM_ACTION_API_VERSION = "1.0.0.14";
+
+/*api id*/
+const int32_t ROBOT_API_ID_ARM_ACTION_EXECUTE_ACTION = 7106;
+const int32_t ROBOT_API_ID_ARM_ACTION_GET_ACTION_LIST = 7107;
+
+class JsonizeArmActionCommand : public common::Jsonize {
+ public:
+  JsonizeArmActionCommand() {}
+  ~JsonizeArmActionCommand() {}
+
+  void fromJson(common::JsonMap &json) {
+    common::FromJson(json["data"], action_id);
+  }
+
+  void toJson(common::JsonMap &json) const {
+    common::ToJson(action_id, json["data"]);
+  }
+
+  int32_t action_id;
+};
+
+}  // namespace g1
+}  // namespace robot
+}  // namespace unitree

unitree_SDK/include/unitree/robot/g1/arm/g1_arm_action_client.hpp

@@ -0,0 +1,69 @@
+#pragma once
+
+#include <unitree/robot/client/client.hpp>
+#include <unitree/robot/go2/public/jsonize_type.hpp>
+#include "g1_arm_action_api.hpp"
+
+namespace unitree {
+namespace robot {
+namespace g1 {
+
+  /**
+   * @brief Arm action client
+   * 
+   * The arm action server provides some upper body actions.
+   * The controller is based on the `rt/arm_sdk` interface.
+   */
+class G1ArmActionClient : public Client {
+  public:
+    G1ArmActionClient() : Client(ARM_ACTION_SERVICE_NAME, false) {}
+    ~G1ArmActionClient() {}
+  
+    /*Init*/
+    void Init() {
+      SetApiVersion(ARM_ACTION_API_VERSION);
+      UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_ARM_ACTION_EXECUTE_ACTION);
+      UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_ARM_ACTION_GET_ACTION_LIST);
+  }
+  
+  /*API Call*/
+  int32_t ExecuteAction(int32_t action_id) {
+    std::string parameter, data;
+    JsonizeArmActionCommand json;
+  
+    json.action_id = action_id;
+    parameter = common::ToJsonString(json);
+  
+    return Call(ROBOT_API_ID_ARM_ACTION_EXECUTE_ACTION, parameter, data);
+  }
+
+  int32_t GetActionList(std::string &data) {
+    std::string parameter;
+    return Call(ROBOT_API_ID_ARM_ACTION_GET_ACTION_LIST, parameter, data);
+  }
+
+  /*Action List*/
+  std::map<std::string, int32_t> action_map = {
+    {"release arm", 99},
+    {"two-hand kiss", 11},
+    {"left kiss", 12},
+    {"right kiss", 12},
+    {"hands up", 15},
+    {"clap", 17},
+    {"high five", 18},
+    {"hug", 19},
+    {"heart", 20},
+    {"right heart", 21},
+    {"reject", 22},
+    {"right hand up", 23},
+    {"x-ray", 24},
+    {"face wave", 25},
+    {"high wave", 26},
+    {"shake hand", 27},
+  };
+};
+
+
+} // namespace g1
+} // namespace robot
+} // namespace unitree 

unitree_SDK/include/unitree/robot/g1/arm/g1_arm_action_error.hpp

@@ -0,0 +1,20 @@
+#pragma once
+
+#include <unitree/common/decl.hpp>
+
+namespace unitree {
+namespace robot {
+namespace g1 {
+
+UT_DECL_ERR(UT_ROBOT_ARM_ACTION_ERR_ARMSDK, 7400, "The topic rt/armsdk is occupied.")
+UT_DECL_ERR(UT_ROBOT_ARM_ACTION_ERR_HOLDING, 7401, "The arm is holding. Expecting release action(99) or the same last action id.")
+UT_DECL_ERR(UT_ROBOT_ARM_ACTION_ERR_INVALID_ACTION_ID, 7402, "Invalid action id.")
+// The actions are only supported in fsm id {500, 501, 801};
+// You can subscribe the topic rt/sportmodestate to check the fsm id.
+// And in the state 801, the actions are only supported in the fsm mode {0, 3}.
+// See https://support.unitree.com/home/en/G1_developer/sport_services_interface#Expert%20interface
+UT_DECL_ERR(UT_ROBOT_ARM_ACTION_ERR_INVALID_FSM_ID, 7404, "Invalid fsm id.")
+
+}  // namespace g1
+}  // namespace robot
+}  // namespace unitree