add unitree_hg

example/hg/arm_sdk.py

@@ -0,0 +1,133 @@
+import time
+import numpy as np
+from enum import IntEnum
+from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize
+
+# from user_data import *
+from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowCmd_
+from unitree_sdk2py.idl.unitree_hg.msg.dds_ import MotorCmd_
+from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowCmd_
+import unitree_sdk2py.idl.unitree_hg.msg.dds_ as dds
+print(dds.LowCmd_)
+print(dds.MotorCmd_)
+
+kTopicArmSDK = "rt/arm_sdk"
+kPi = 3.141592654
+kPi_2 = 1.57079632
+
+
+class JointIndex(IntEnum):
+
+    #   // Left arm
+    kLeftShoulderPitch = 13
+    kLeftShoulderRoll = 14
+    kLeftShoulderYaw = 15
+    kLeftElbow = 16
+    kLeftWistYaw = 17
+    kLeftWistPitch = 18
+    kLeftWistRoll = 19
+    #   // Right arm
+    kRightShoulderPitch = 20
+    kRightShoulderRoll = 21
+    kRightShoulderYaw = 22
+    kRightElbow = 23
+    kRightWistYaw = 24
+    kRightWistPitch = 25
+    kRightWistRoll = 26
+
+    kWaistYaw = 12
+
+
+kNotUsedJoint = 27
+
+
+if __name__ == "__main__":
+    ChannelFactoryInitialize()
+
+    # Create a publisher to publish the data defined in UserData class
+    arm_sdk_publisher = ChannelPublisher('rt/arm_sdk', LowCmd_)
+    # pub = ChannelPublisher("rt/lowcmd", LowCmd_)
+    arm_sdk_publisher.Init()
+
+    msg = unitree_hg_msg_dds__LowCmd_()
+
+    weight = 0
+    weight_rate = 0.2
+
+    kp = 60
+    kd = 1.5
+    dq = 0
+    tau_ff = 0
+
+    control_dt = 0.02
+    max_joint_velocity = 0.5
+
+    delta_weight = weight_rate * control_dt
+    max_joint_delta = max_joint_velocity * control_dt
+
+    init_pos = np.zeros(15)
+    target_pos = np.array(
+        [
+            0.0,
+            kPi_2,
+            0.0,
+            kPi_2,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            -kPi_2,
+            0.0,
+            kPi_2,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+        ]
+    )
+    print("Initailizing arms ...")
+
+    init_time = 5
+    init_time_steps = int(init_time / control_dt)
+
+    for i in range(init_time_steps):
+        weight += delta_weight
+        weight = max(min(weight, 1.0), 0)
+        msg.motor_cmd[kNotUsedJoint].q = weight * weight
+
+        for idx, joint in enumerate(JointIndex):
+            msg.motor_cmd[joint].q = init_pos[idx]
+            msg.motor_cmd[joint].dq = dq
+            msg.motor_cmd[joint].kp = kp
+            msg.motor_cmd[joint].kd = kd
+            msg.motor_cmd[joint].tau = tau_ff
+
+        arm_sdk_publisher.Write(msg)
+
+        time.sleep(control_dt)
+
+    print("Done!")
+
+    period = 5
+    num_time_steps = int(period / control_dt)
+
+    current_jpos_des = np.zeros_like(init_pos)
+
+    for i in range(num_time_steps):
+        for j in range(len(current_jpos_des)):
+                delta = target_pos[j] - current_jpos_des[j]
+                clamped_delta = np.clip(delta, -max_joint_delta, max_joint_delta)
+                current_jpos_des[j] += clamped_delta
+        
+        for idx, joint in enumerate(JointIndex):
+            msg.motor_cmd[joint].q = current_jpos_des[idx]
+            msg.motor_cmd[joint].dq = dq
+            msg.motor_cmd[joint].kp = kp
+            msg.motor_cmd[joint].kd = kd
+            msg.motor_cmd[joint].tau = tau_ff
+        
+        arm_sdk_publisher.Write(msg)
+        
+        time.sleep(control_dt)
+    
+    exit()

example/hg/low_cmd.py

@@ -0,0 +1,50 @@
+import time
+import numpy as np
+from enum import IntEnum
+from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize
+import sys
+
+# from user_data import *
+from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowCmd_
+from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowCmd_
+import unitree_sdk2py.idl.unitree_hg.msg.dds_ as dds
+from unitree_sdk2py.utils.crc import CRC
+
+
+kTopicArmSDK = "rt/lowcmd"
+kPi = 3.141592654
+kPi_2 = 1.57079632
+kNumMotors = 35
+
+if __name__ == "__main__":
+
+    if len(sys.argv)>1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+    
+    # 初始化发布节点
+    low_cmd_publisher = ChannelPublisher(kTopicArmSDK, LowCmd_)
+    low_cmd_publisher.Init()
+    # 初始化LowCmd_
+    msg = unitree_hg_msg_dds__LowCmd_()
+    # CRC校验实例
+    crc = CRC()
+    # 控制时间参数
+    control_dt = 0.02
+    init_time = 20
+    init_time_steps = int(init_time / control_dt)
+
+    # 控制参数设置
+    msg.mode_pr = 0
+    msg.mode_machine = 4
+    for i in range(init_time_steps):
+        for idx in range(kNumMotors):
+                msg.motor_cmd[idx].mode = 0x01
+        msg.crc = crc.Crc(msg)
+        # print(msg.crc)
+        low_cmd_publisher.Write(msg)
+        time.sleep(control_dt)
+
+    print("Done!")
+    exit()

example/hg/readme.md

@@ -0,0 +1,5 @@
+This example is a test of Unitree G1/H1-2 robot.
+
+**Note:** 
+idl/unitree_go is used for Unitree Go2/B2/H1/B2w/Go2w robots
+idl/unitree_hg is used for Unitree G1/H1-2 robots

setup.py

@@ -5,7 +5,7 @@ setup(name='unitree_sdk2py',
       author='Unitree',
       author_email='unitree@unitree.com',
       license="BSD-3-Clause",
-      packages=find_packages(),
+      packages=find_packages(include=['unitree_sdk2py','unitree_sdk2py.*']),
       description='Unitree robot sdk version 2 for python',
       python_requires='>=3.8',
       install_requires=[

unitree_sdk2py/idl/__init__.py

@@ -1,3 +1,4 @@
+from .default import *
 from . import builtin_interfaces, geometry_msgs, sensor_msgs, std_msgs, unitree_go, unitree_api
 
 __all__ = [
@@ -6,5 +7,6 @@ __all__ = [
     "sensor_msgs",
     "std_msgs",
     "unitree_go",
+    "unitree_hg",
     "unitree_api",
 ]

unitree_sdk2py/idl/default.py

@@ -6,6 +6,17 @@ from .sensor_msgs.msg.dds_ import *
 from .unitree_go.msg.dds_ import *
 from .unitree_api.msg.dds_ import *
 
+# IDL for unitree_hg
+from .unitree_hg.msg.dds_ import LowCmd_ as HGLowCmd_
+from .unitree_hg.msg.dds_ import LowState_ as HGLowState_
+from .unitree_hg.msg.dds_ import MotorCmd_ as HGMotorCmd_
+from .unitree_hg.msg.dds_ import MotorState_ as HGMotorState_
+from .unitree_hg.msg.dds_ import BmsState_ as HGBmsState_
+from .unitree_hg.msg.dds_ import IMUState_ as HGIMUState_
+from .unitree_hg.msg.dds_ import MainBoardState_ as HGMainBoardState_
+from .unitree_hg.msg.dds_ import PressSensorState_ as HGPressSensorState_
+from .unitree_hg.msg.dds_ import HandCmd_ as HGHandCmd_
+from .unitree_hg.msg.dds_ import HandState_ as HGHandState_
 
 """
 " builtin_interfaces_msgs.msg.dds_ dafault
@@ -89,7 +100,8 @@ def nav_msgs_msg_dds__OccupancyGrid_():
     return OccupancyGrid_(std_msgs_msg_dds__Header_(), nav_msgs_msg_dds__MapMetaData_(), [])
 
 def nav_msgs_msg_dds__Odometry_():
-    return Odometry_(std_msgs_msg_dds__Header_(), "", geometry_msgs_msg_dds__PoseWithCovariance_(), geometry_msgs_msg_dds__TwistWithCovariance_())
+    return Odometry_(std_msgs_msg_dds__Header_(), "", geometry_msgs_msg_dds__PoseWithCovariance_(),
+            geometry_msgs_msg_dds__TwistWithCovariance_())
 
 
 """
@@ -139,15 +151,17 @@ def unitree_go_msg_dds__MotorState_():
     return MotorState_(0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0, 0, [0, 0])
 
 def unitree_go_msg_dds__LowCmd_():
-    return LowCmd_([0, 0], 0, 0, [0, 0], [0, 0], 0, [unitree_go_msg_dds__MotorCmd_() for i in range(20)], unitree_go_msg_dds__BmsCmd_(),
+    return LowCmd_([0, 0], 0, 0, [0, 0], [0, 0], 0, [unitree_go_msg_dds__MotorCmd_() for i in range(20)],
-                   [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
+                unitree_go_msg_dds__BmsCmd_(),
-                   [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], [0, 0], 0, 0, 0)
+                [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
+                [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], [0, 0], 0, 0, 0)
 
 def unitree_go_msg_dds__LowState_():
-    return LowState_([0, 0], 0, 0, [0, 0], [0, 0], 0, unitree_go_msg_dds__IMUState_(), [unitree_go_msg_dds__MotorState_() for i in range(20)],
+    return LowState_([0, 0], 0, 0, [0, 0], [0, 0], 0, unitree_go_msg_dds__IMUState_(),
-                    unitree_go_msg_dds__BmsState_(), [0, 0, 0, 0], [0, 0, 0, 0], 0,
+                [unitree_go_msg_dds__MotorState_() for i in range(20)],
-                    [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
+                unitree_go_msg_dds__BmsState_(), [0, 0, 0, 0], [0, 0, 0, 0], 0,
-                    0, 0, 0, 0, 0.0, 0.0, [0, 0, 0, 0], 0, 0)
+                [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
+                0, 0, 0, 0, 0.0, 0.0, [0, 0, 0, 0], 0, 0)
 
 def unitree_go_msg_dds__Req_():
     return Req_("", "")
@@ -162,9 +176,10 @@ def unitree_go_msg_dds__PathPoint_():
     return PathPoint_(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
 
 def unitree_go_msg_dds__SportModeState_():
-    return SportModeState_(unitree_go_msg_dds__TimeSpec_(), 0, unitree_go_msg_dds__IMUState_(), 0, 0, 0, 0.0, [0.0, 0.0, 0.0], 0.0,
+    return SportModeState_(unitree_go_msg_dds__TimeSpec_(), 0, unitree_go_msg_dds__IMUState_(),
-                    [0.0, 0.0, 0.0], 0.0, [0.0, 0.0, 0.0, 0.0], [0, 0, 0, 0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+                0, 0, 0, 0.0, [0.0, 0.0, 0.0], 0.0,
-                    [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],[unitree_go_msg_dds__PathPoint_() for i in range(10)])
+                [0.0, 0.0, 0.0], 0.0, [0.0, 0.0, 0.0, 0.0], [0, 0, 0, 0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],[unitree_go_msg_dds__PathPoint_() for i in range(10)])
 
 def unitree_go_msg_dds__UwbState_():
     return UwbState_([0, 0], 0, 0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, [0.0, 0.0], 0, 0, 0)
@@ -176,6 +191,50 @@ def unitree_go_msg_dds__WirelessController_():
     return WirelessController_(0.0, 0.0, 0.0, 0.0, 0)
 
 
+"""
+" unitree_hg.msg.dds_ dafault
+"""
+def unitree_hg_msg_dds__BmsCmd_():
+    return HGBmsCmd_(0, [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+                0, 0, 0, 0, 0, 0, 0, 0, 0, 0])
+
+def unitree_hg_msg_dds__BmsState_():
+    return HGBmsState_(0, 0, 0,
+                [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
+                [0, 0, 0], 0, 0, 0, [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 0, 0, [0, 0, 0, 0, 0], [0, 0, 0])
+
+def unitree_hg_msg_dds__IMUState_():
+    return HGIMUState_([0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], 0)
+
+def unitree_hg_msg_dds__MotorCmd_():
+    return HGMotorCmd_(0, 0.0, 0.0, 0.0, 0.0, 0.0, 0)
+
+def unitree_hg_msg_dds__MotorState_():
+    return HGMotorState_(0, 0.0, 0.0, 0.0, 0.0, [0, 0], 0.0, [0, 0], 0,  [0, 0, 0, 0])
+
+def unitree_hg_msg_dds__MainBoardState_():
+    return HGMainBoardState_([0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0, 0, 0, 0, 0, 0])
+
+def unitree_hg_msg_dds__LowCmd_():
+    return HGLowCmd_(0, 0, [unitree_hg_msg_dds__MotorCmd_() for i in range(35)], [0, 0, 0, 0], 0)
+
+def unitree_hg_msg_dds__LowState_():
+    return HGLowState_([0, 0], 0, 0, 0, unitree_hg_msg_dds__IMUState_(),
+                [unitree_hg_msg_dds__MotorState_() for i in range(35)],
+                [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
+                [0, 0, 0, 0], 0)
+
+def unitree_hg_msg_dds__PressSensorState_():
+    return HGPressSensorState_([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
+
+def unitree_hg_msg_dds__HandCmd_():
+    return HGHandCmd_([])
+
+def unitree_hg_msg_dds__HandState_():
+    return HGHandState([], unitree_hg_msg_dds__IMUState_(), [], 0.0, 0.0, [0, 0])
+
+
 """
 " unitree_api.msg.dds_ dafault
 """
@@ -183,13 +242,14 @@ def unitree_api_msg_dds__RequestIdentity_():
     return RequestIdentity_(0, 0)
 
 def unitree_api_msg_dds__RequestLease_():
-    return RequestLease_(0)
+    return RequestLease_(0, unitree_hg_msg_dds__IMUState_(), [], )
 
 def unitree_api_msg_dds__RequestPolicy_():
     return RequestPolicy_(0, False)
 
 def unitree_api_msg_dds__RequestHeader_():
-    return RequestHeader_(unitree_api_msg_dds__RequestIdentity_(), unitree_api_msg_dds__RequestLease_(), unitree_api_msg_dds__RequestPolicy_())
+    return RequestHeader_(unitree_api_msg_dds__RequestIdentity_(), unitree_api_msg_dds__RequestLease_(),
+            unitree_api_msg_dds__RequestPolicy_())
 
 def unitree_api_msg_dds__Request_():
     return Request_(unitree_api_msg_dds__RequestHeader_(), "", [])
@@ -201,5 +261,5 @@ def unitree_api_msg_dds__ResponseHeader_():
     return ResponseHeader_(unitree_api_msg_dds__RequestIdentity_(), unitree_api_msg_dds__ResponseStatus_())
 
 def unitree_api_msg_dds__Response_():
-    return Response_(unitree_api_msg_dds__ResponseHeader_(), "", [])
+    return Response_(unitree_api_msg_dds__ResponseHeader_(), "", [], 0, 0, [0, 0])
 

unitree_sdk2py/idl/unitree_hg/.idlpy_manifest

@@ -0,0 +1,43 @@
+BmsCmd_
+msg
+
+
+BmsState_
+msg
+
+
+HandCmd_
+msg
+
+
+HandState_
+msg
+
+
+IMUState_
+msg
+
+
+LowCmd_
+msg
+
+
+LowState_
+msg
+
+
+MainBoardState_
+msg
+
+
+MotorCmd_
+msg
+
+
+MotorState_
+msg
+
+
+PressSensorState_
+msg
+

unitree_sdk2py/idl/unitree_hg/__init__.py

@@ -0,0 +1,9 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v0.11.0
+  Module: unitree_hg
+
+"""
+
+from . import msg
+__all__ = ["msg", ]

unitree_sdk2py/idl/unitree_hg/msg/.idlpy_manifest

@@ -0,0 +1,43 @@
+BmsCmd_
+dds_
+
+
+BmsState_
+dds_
+
+
+HandCmd_
+dds_
+
+
+HandState_
+dds_
+
+
+IMUState_
+dds_
+
+
+LowCmd_
+dds_
+
+
+LowState_
+dds_
+
+
+MainBoardState_
+dds_
+
+
+MotorCmd_
+dds_
+
+
+MotorState_
+dds_
+
+
+PressSensorState_
+dds_
+

unitree_sdk2py/idl/unitree_hg/msg/__init__.py

@@ -0,0 +1,9 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v0.11.0
+  Module: unitree_hg.msg
+
+"""
+
+from . import dds_
+__all__ = ["dds_", ]

unitree_sdk2py/idl/unitree_hg/msg/dds_/.idlpy_manifest

@@ -0,0 +1,43 @@
+BmsCmd_
+
+BmsCmd_
+
+BmsState_
+
+BmsState_
+
+HandCmd_
+
+HandCmd_
+
+HandState_
+
+HandState_
+
+IMUState_
+
+IMUState_
+
+LowCmd_
+
+LowCmd_
+
+LowState_
+
+LowState_
+
+MainBoardState_
+
+MainBoardState_
+
+MotorCmd_
+
+MotorCmd_
+
+MotorState_
+
+MotorState_
+
+PressSensorState_
+
+PressSensorState_

unitree_sdk2py/idl/unitree_hg/msg/dds_/_BmsCmd_.py

@@ -0,0 +1,28 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v0.11.0
+  Module: unitree_hg.msg.dds_
+  IDL file: BmsCmd_.idl
+
+"""
+
+from enum import auto
+from typing import TYPE_CHECKING, Optional
+from dataclasses import dataclass
+
+import cyclonedds.idl as idl
+import cyclonedds.idl.annotations as annotate
+import cyclonedds.idl.types as types
+
+# root module import for resolving types
+# import unitree_hg
+
+
+@dataclass
+@annotate.final
+@annotate.autoid("sequential")
+class BmsCmd_(idl.IdlStruct, typename="unitree_hg.msg.dds_.BmsCmd_"):
+    cmd: types.uint8
+    reserve: types.array[types.uint8, 40]
+
+

unitree_sdk2py/idl/unitree_hg/msg/dds_/_BmsState_.py

@@ -0,0 +1,39 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v0.11.0
+  Module: unitree_hg.msg.dds_
+  IDL file: BmsState_.idl
+
+"""
+
+from enum import auto
+from typing import TYPE_CHECKING, Optional
+from dataclasses import dataclass
+
+import cyclonedds.idl as idl
+import cyclonedds.idl.annotations as annotate
+import cyclonedds.idl.types as types
+
+# root module import for resolving types
+# import unitree_hg
+
+
+@dataclass
+@annotate.final
+@annotate.autoid("sequential")
+class BmsState_(idl.IdlStruct, typename="unitree_hg.msg.dds_.BmsState_"):
+    version_high: types.uint8
+    version_low: types.uint8
+    fn: types.uint8
+    cell_vol: types.array[types.uint16, 40]
+    bmsvoltage: types.array[types.uint32, 3]
+    current: types.int32
+    soc: types.uint8
+    soh: types.uint8
+    temperature: types.array[types.int16, 12]
+    cycle: types.uint16
+    manufacturer_date: types.uint16
+    bmsstate: types.array[types.uint32, 5]
+    reserve: types.array[types.uint32, 3]
+
+

unitree_sdk2py/idl/unitree_hg/msg/dds_/_HandCmd_.py

@@ -0,0 +1,27 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v0.11.0
+  Module: unitree_hg.msg.dds_
+  IDL file: HandCmd_.idl
+
+"""
+
+from enum import auto
+from typing import TYPE_CHECKING, Optional
+from dataclasses import dataclass
+
+import cyclonedds.idl as idl
+import cyclonedds.idl.annotations as annotate
+import cyclonedds.idl.types as types
+
+# root module import for resolving types
+# import unitree_hg
+
+
+@dataclass
+@annotate.final
+@annotate.autoid("sequential")
+class HandCmd_(idl.IdlStruct, typename="unitree_hg.msg.dds_.HandCmd_"):
+    motor_cmd: types.sequence['unitree_sdk2py.idl.unitree_hg.msg.dds_.MotorCmd_']
+
+

unitree_sdk2py/idl/unitree_hg/msg/dds_/_HandState_.py

@@ -0,0 +1,32 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v0.11.0
+  Module: unitree_hg.msg.dds_
+  IDL file: HandState_.idl
+
+"""
+
+from enum import auto
+from typing import TYPE_CHECKING, Optional
+from dataclasses import dataclass
+
+import cyclonedds.idl as idl
+import cyclonedds.idl.annotations as annotate
+import cyclonedds.idl.types as types
+
+# root module import for resolving types
+# import unitree_hg
+
+
+@dataclass
+@annotate.final
+@annotate.autoid("sequential")
+class HandState_(idl.IdlStruct, typename="unitree_hg.msg.dds_.HandState_"):
+    motor_state: types.sequence['unitree_sdk2py.idl.unitree_hg.msg.dds_.MotorState_']
+    imu_state: 'unitree_sdk2py.idl.unitree_hg.msg.dds_.IMUState_'
+    press_sensor_state: types.sequence['unitree_sdk2py.idl.unitree_hg.msg.dds_.PressSensorState_']
+    power_v: types.float32
+    power_a: types.float32
+    reserve: types.array[types.uint32, 2]
+
+

unitree_sdk2py/idl/unitree_hg/msg/dds_/_IMUState_.py

@@ -0,0 +1,31 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v0.11.0
+  Module: unitree_hg.msg.dds_
+  IDL file: IMUState_.idl
+
+"""
+
+from enum import auto
+from typing import TYPE_CHECKING, Optional
+from dataclasses import dataclass
+
+import cyclonedds.idl as idl
+import cyclonedds.idl.annotations as annotate
+import cyclonedds.idl.types as types
+
+# root module import for resolving types
+# import unitree_hg
+
+
+@dataclass
+@annotate.final
+@annotate.autoid("sequential")
+class IMUState_(idl.IdlStruct, typename="unitree_hg.msg.dds_.IMUState_"):
+    quaternion: types.array[types.float32, 4]
+    gyroscope: types.array[types.float32, 3]
+    accelerometer: types.array[types.float32, 3]
+    rpy: types.array[types.float32, 3]
+    temperature: types.int16
+
+

unitree_sdk2py/idl/unitree_hg/msg/dds_/_LowCmd_.py

@@ -0,0 +1,31 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v0.11.0
+  Module: unitree_hg.msg.dds_
+  IDL file: LowCmd_.idl
+
+"""
+
+from enum import auto
+from typing import TYPE_CHECKING, Optional
+from dataclasses import dataclass
+
+import cyclonedds.idl as idl
+import cyclonedds.idl.annotations as annotate
+import cyclonedds.idl.types as types
+
+# root module import for resolving types
+# import unitree_hg
+
+
+@dataclass
+@annotate.final
+@annotate.autoid("sequential")
+class LowCmd_(idl.IdlStruct, typename="unitree_hg.msg.dds_.LowCmd_"):
+    mode_pr: types.uint8
+    mode_machine: types.uint8
+    motor_cmd: types.array['unitree_sdk2py.idl.unitree_hg.msg.dds_.MotorCmd_', 35]
+    reserve: types.array[types.uint32, 4]
+    crc: types.uint32
+
+

unitree_sdk2py/idl/unitree_hg/msg/dds_/_LowState_.py

@@ -0,0 +1,35 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v0.11.0
+  Module: unitree_hg.msg.dds_
+  IDL file: LowState_.idl
+
+"""
+
+from enum import auto
+from typing import TYPE_CHECKING, Optional
+from dataclasses import dataclass
+
+import cyclonedds.idl as idl
+import cyclonedds.idl.annotations as annotate
+import cyclonedds.idl.types as types
+
+# root module import for resolving types
+# import unitree_hg
+
+
+@dataclass
+@annotate.final
+@annotate.autoid("sequential")
+class LowState_(idl.IdlStruct, typename="unitree_hg.msg.dds_.LowState_"):
+    version: types.array[types.uint32, 2]
+    mode_pr: types.uint8
+    mode_machine: types.uint8
+    tick: types.uint32
+    imu_state: 'unitree_sdk2py.idl.unitree_hg.msg.dds_.IMUState_'
+    motor_state: types.array['unitree_sdk2py.idl.unitree_hg.msg.dds_.MotorState_', 35]
+    wireless_remote: types.array[types.uint8, 40]
+    reserve: types.array[types.uint32, 4]
+    crc: types.uint32
+
+

unitree_sdk2py/idl/unitree_hg/msg/dds_/_MainBoardState_.py

@@ -0,0 +1,30 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v0.11.0
+  Module: unitree_hg.msg.dds_
+  IDL file: MainBoardState_.idl
+
+"""
+
+from enum import auto
+from typing import TYPE_CHECKING, Optional
+from dataclasses import dataclass
+
+import cyclonedds.idl as idl
+import cyclonedds.idl.annotations as annotate
+import cyclonedds.idl.types as types
+
+# root module import for resolving types
+# import unitree_hg
+
+
+@dataclass
+@annotate.final
+@annotate.autoid("sequential")
+class MainBoardState_(idl.IdlStruct, typename="unitree_hg.msg.dds_.MainBoardState_"):
+    fan_state: types.array[types.uint16, 6]
+    temperature: types.array[types.int16, 6]
+    value: types.array[types.float32, 6]
+    state: types.array[types.uint32, 6]
+
+

unitree_sdk2py/idl/unitree_hg/msg/dds_/_MotorCmd_.py

@@ -0,0 +1,33 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v0.11.0
+  Module: unitree_hg.msg.dds_
+  IDL file: MotorCmd_.idl
+
+"""
+
+from enum import auto
+from typing import TYPE_CHECKING, Optional
+from dataclasses import dataclass
+
+import cyclonedds.idl as idl
+import cyclonedds.idl.annotations as annotate
+import cyclonedds.idl.types as types
+
+# root module import for resolving types
+# import unitree_hg
+
+
+@dataclass
+@annotate.final
+@annotate.autoid("sequential")
+class MotorCmd_(idl.IdlStruct, typename="unitree_hg.msg.dds_.MotorCmd_"):
+    mode: types.uint8
+    q: types.float32
+    dq: types.float32
+    tau: types.float32
+    kp: types.float32
+    kd: types.float32
+    reserve: types.uint32
+
+

unitree_sdk2py/idl/unitree_hg/msg/dds_/_MotorState_.py

@@ -0,0 +1,36 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v0.11.0
+  Module: unitree_hg.msg.dds_
+  IDL file: MotorState_.idl
+
+"""
+
+from enum import auto
+from typing import TYPE_CHECKING, Optional
+from dataclasses import dataclass
+
+import cyclonedds.idl as idl
+import cyclonedds.idl.annotations as annotate
+import cyclonedds.idl.types as types
+
+# root module import for resolving types
+# import unitree_hg
+
+
+@dataclass
+@annotate.final
+@annotate.autoid("sequential")
+class MotorState_(idl.IdlStruct, typename="unitree_hg.msg.dds_.MotorState_"):
+    mode: types.uint8
+    q: types.float32
+    dq: types.float32
+    ddq: types.float32
+    tau_est: types.float32
+    temperature: types.array[types.int16, 2]
+    vol: types.float32
+    sensor: types.array[types.uint32, 2]
+    motorstate: types.uint32
+    reserve: types.array[types.uint32, 4]
+
+

unitree_sdk2py/idl/unitree_hg/msg/dds_/_PressSensorState_.py

@@ -0,0 +1,28 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v0.11.0
+  Module: unitree_hg.msg.dds_
+  IDL file: PressSensorState_.idl
+
+"""
+
+from enum import auto
+from typing import TYPE_CHECKING, Optional
+from dataclasses import dataclass
+
+import cyclonedds.idl as idl
+import cyclonedds.idl.annotations as annotate
+import cyclonedds.idl.types as types
+
+# root module import for resolving types
+# import unitree_hg
+
+
+@dataclass
+@annotate.final
+@annotate.autoid("sequential")
+class PressSensorState_(idl.IdlStruct, typename="unitree_hg.msg.dds_.PressSensorState_"):
+    pressure: types.array[types.float32, 12]
+    temperature: types.array[types.float32, 12]
+
+

unitree_sdk2py/idl/unitree_hg/msg/dds_/__init__.py

@@ -0,0 +1,19 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v0.11.0
+  Module: unitree_hg.msg.dds_
+
+"""
+
+from ._BmsCmd_ import BmsCmd_
+from ._BmsState_ import BmsState_
+from ._HandCmd_ import HandCmd_
+from ._HandState_ import HandState_
+from ._IMUState_ import IMUState_
+from ._LowCmd_ import LowCmd_
+from ._LowState_ import LowState_
+from ._MainBoardState_ import MainBoardState_
+from ._MotorCmd_ import MotorCmd_
+from ._MotorState_ import MotorState_
+from ._PressSensorState_ import PressSensorState_
+__all__ = ["BmsCmd_", "BmsState_", "HandCmd_", "HandState_", "IMUState_", "LowCmd_", "LowState_", "MainBoardState_", "MotorCmd_", "MotorState_", "PressSensorState_", ]

unitree_sdk2py/test/crc/test_crc.py

@@ -1,10 +1,11 @@
-from unitree_sdk2py.idl.default import *
+from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowCmd_, unitree_go_msg_dds__LowState_
+from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowCmd_, unitree_hg_msg_dds__LowState_
 from unitree_sdk2py.utils.crc import CRC
 
 crc = CRC()
 
 """
-" LowCmd CRC
+" LowCmd/LowState CRC
 """
 cmd = unitree_go_msg_dds__LowCmd_()
 cmd.crc = crc.Crc(cmd)
@@ -13,3 +14,14 @@ state = unitree_go_msg_dds__LowState_()
 state.crc = crc.Crc(state)
 
 print("CRC[LowCmd, LowState]: {}, {}".format(cmd.crc, state.crc))
+
+"""
+" LowCmd/LowState for HG CRC. ()
+"""
+cmd = unitree_hg_msg_dds__LowCmd_()
+cmd.crc = crc.Crc(cmd)
+
+state = unitree_hg_msg_dds__LowState_()
+state.crc = crc.Crc(state)
+
+print("CRC[HGLowCmd, HGLowState]: {}, {}".format(cmd.crc, state.crc))

unitree_sdk2py/utils/crc.py

@@ -3,8 +3,11 @@ import cyclonedds
 import cyclonedds.idl as idl
 
 from .singleton import Singleton
-from ..idl.unitree_go.msg.dds_ import LowCmd_ as LowCmd
+from ..idl.unitree_go.msg.dds_ import LowCmd_
-from ..idl.unitree_go.msg.dds_ import LowState_ as LowState
+from ..idl.unitree_go.msg.dds_ import LowState_
+
+from ..idl.unitree_hg.msg.dds_ import LowCmd_ as HGLowCmd_
+from ..idl.unitree_hg.msg.dds_ import LowState_ as HGLowState_
 
 class CRC(Singleton):
     def __init__(self):
@@ -13,16 +16,24 @@ class CRC(Singleton):
         self.__packFmtLowCmd = '<4B4IH2x' + 'B3x5f3I' * 20 + '4B' + '55Bx2I'
         #size 1180
         self.__packFmtLowState = '<4B4IH2x' + '13fb3x' + 'B3x7fb3x3I' * 20 + '4BiH4b15H' + '8hI41B3xf2b2x2f4h2I'
+        #size 1004
+        self.__packFmtHGLowCmd = '<2B2x' + 'B3x5fI' * 35 + '5I'
+        #size 2092
+        self.__packFmtHGLowState = '<2I2B2xI' + '13fh2x' + 'B3x4f2hf7I' * 35 + '40B5I'
 
     def Crc(self, msg: idl.IdlStruct):
         if msg.__idl_typename__ == 'unitree_go.msg.dds_.LowCmd_':
             return self.__Crc32(self.__PackLowCmd(msg))
         elif msg.__idl_typename__ == 'unitree_go.msg.dds_.LowState_':
             return self.__Crc32(self.__PackLowState(msg))
+        if msg.__idl_typename__ == 'unitree_hg.msg.dds_.LowCmd_':
+            return self.__Crc32(self.__PackHGLowCmd(msg))
+        elif msg.__idl_typename__ == 'unitree_hg.msg.dds_.LowState_':
+            return self.__Crc32(self.__PackHGLowState(msg))
         else:
             raise TypeError('unknown IDL message type to crc')
 
-    def __PackLowCmd(self, cmd: LowCmd):
+    def __PackLowCmd(self, cmd: LowCmd_):
         origData = []
         origData.extend(cmd.head)
         origData.append(cmd.level_flag)
@@ -52,7 +63,7 @@ class CRC(Singleton):
 
         return self.__Trans(struct.pack(self.__packFmtLowCmd, *origData))
 
-    def __PackLowState(self, state: LowState):
+    def __PackLowState(self, state: LowState_):
         origData = []
         origData.extend(state.head)
         origData.append(state.level_flag)
@@ -106,6 +117,56 @@ class CRC(Singleton):
 
         return self.__Trans(struct.pack(self.__packFmtLowState, *origData))
 
+    def __PackHGLowCmd(self, cmd: HGLowCmd_):
+        origData = []
+        origData.append(cmd.mode_pr)
+        origData.append(cmd.mode_machine)
+
+        for i in range(35):
+            origData.append(cmd.motor_cmd[i].mode)
+            origData.append(cmd.motor_cmd[i].q)
+            origData.append(cmd.motor_cmd[i].dq)
+            origData.append(cmd.motor_cmd[i].tau)
+            origData.append(cmd.motor_cmd[i].kp)
+            origData.append(cmd.motor_cmd[i].kd)
+            origData.append(cmd.motor_cmd[i].reserve)
+
+        origData.extend(cmd.reserve)
+        origData.append(cmd.crc)
+
+        return self.__Trans(struct.pack(self.__packFmtHGLowCmd, *origData))
+
+    def __PackHGLowState(self, state: HGLowState_):
+        origData = []
+        origData.extend(state.version)
+        origData.append(state.mode_pr)
+        origData.append(state.mode_machine)
+        origData.append(state.tick)
+        
+        origData.extend(state.imu_state.quaternion)
+        origData.extend(state.imu_state.gyroscope)
+        origData.extend(state.imu_state.accelerometer)
+        origData.extend(state.imu_state.rpy)
+        origData.append(state.imu_state.temperature)
+        
+        for i in range(35):
+            origData.append(state.motor_state[i].mode)
+            origData.append(state.motor_state[i].q)
+            origData.append(state.motor_state[i].dq)
+            origData.append(state.motor_state[i].ddq)
+            origData.append(state.motor_state[i].tau_est)
+            origData.extend(state.motor_state[i].temperature)
+            origData.append(state.motor_state[i].vol)
+            origData.extend(state.motor_state[i].sensor)
+            origData.append(state.motor_state[i].motorstate)
+            origData.extend(state.motor_state[i].reserve)
+
+        origData.extend(state.wireless_remote)
+        origData.extend(state.reserve)
+        origData.append(state.crc)
+
+        return self.__Trans(struct.pack(self.__packFmtHGLowState, *origData))
+
     def __Trans(self, packData):
         calcData = []
         calcLen = ((len(packData)>>2)-1)