add two arms to python

examples_py/arm_python_interface.cpp

@@ -40,8 +40,17 @@ PYBIND11_MODULE(unitree_arm_interface, m){
         .def("getQTau", &LowlevelState::getTau, rvp::reference_internal)
         ;
 
+   py::class_<UDPPort>(m, "UDPPort")
+            .def(py::init<std::string, uint, uint>(),
+                    py::arg("IP") = "127.0.0.1",
+                    py::arg("toPort") = 8071,
+                    py::arg("ownPort") = 8072
+                    )
+            ;
+
     py::class_<CtrlComponents>(m, "CtrlComponents")
         .def_readwrite("armModel", &CtrlComponents::armModel)
+        .def_readwrite("udp", &CtrlComponents::udp)
         .def_readonly("dt", &CtrlComponents::dt)
         ;
 

examples_py/example_highcmd.py

@@ -8,6 +8,10 @@ print("Press ctrl+\ to quit process.")
 
 np.set_printoptions(precision=3, suppress=True)
 arm =  unitree_arm_interface.ArmInterface(hasGripper=True)
+ctrlComp = arm._ctrlComp
+udp = unitree_arm_interface.UDPPort(IP = "127.0.0.1", toPort=8071, ownPort=8072)
+ctrlComp.udp = udp
+
 armState = unitree_arm_interface.ArmFSMState
 arm.loopOn()
 

examples_py/example_model.py

@@ -5,7 +5,9 @@ import numpy as np
 
 np.set_printoptions(precision=3, suppress=True)
 arm =  unitree_arm_interface.ArmInterface(hasGripper=True)
-armModel = arm._ctrlComp.armModel
+ctrlComp = arm._ctrlComp
+udp = unitree_arm_interface.UDPPort(IP = "127.0.0.1", toPort=8071, ownPort=8072)
+ctrlComp.udp = udp
 
 print('--------------------------FK & IK------------------------')
 q_FORWARD = np.array([0, 1.5, -1, 0.54, 0, 0])