support for arm64

.gitignore

@@ -0,0 +1,2 @@
+.vscode
+build

CMakeLists.txt

@@ -13,14 +13,14 @@ set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/../lib)
 link_directories(lib)
 
 add_executable(highcmd_basic examples/highcmd_basic.cpp )
-target_link_libraries(highcmd_basic Z1_SDK_Linux64)
+target_link_libraries(highcmd_basic Z1_SDK_${CMAKE_HOST_SYSTEM_PROCESSOR})
 add_executable(highcmd_development examples/highcmd_development.cpp )
-target_link_libraries(highcmd_development Z1_SDK_Linux64)
+target_link_libraries(highcmd_development Z1_SDK_${CMAKE_HOST_SYSTEM_PROCESSOR})
 add_executable(lowcmd_development examples/lowcmd_development.cpp )
-target_link_libraries(lowcmd_development Z1_SDK_Linux64)
+target_link_libraries(lowcmd_development Z1_SDK_${CMAKE_HOST_SYSTEM_PROCESSOR})
 add_executable(lowcmd_multirobots examples/lowcmd_multirobots.cpp )
-target_link_libraries(lowcmd_multirobots Z1_SDK_Linux64)
+target_link_libraries(lowcmd_multirobots Z1_SDK_${CMAKE_HOST_SYSTEM_PROCESSOR})
 
 add_subdirectory(pybind11)
 pybind11_add_module(unitree_arm_interface examples_py/arm_python_interface.cpp)
-target_link_libraries(unitree_arm_interface PRIVATE Z1_SDK_Linux64)
+target_link_libraries(unitree_arm_interface PRIVATE Z1_SDK_${CMAKE_HOST_SYSTEM_PROCESSOR})

examples/highcmd_basic.cpp

@@ -21,16 +21,16 @@ void Z1ARM::armCtrlByFSM() {
     
     std::cout << "[MOVEJ]" << std::endl;
     posture[0]<<0.5,0.1,0.1,0.5,-0.2,0.5;
-    MoveJ(posture[0], 0, 1.0);
+    MoveJ(posture[0], 0, 2.0);
 
     std::cout << "[MOVEL]" << std::endl;
     posture[0] << 0,0,0,0.45,-0.2,0.2;
-    MoveL(posture[0], 0, 0.3);
+    MoveL(posture[0], 0, 0.5);
 
     std::cout << "[MOVEC]" << std::endl;
     posture[0] << 0,0,0,0.45,0,0.4;
     posture[1] << 0,0,0,0.45,0.2,0.2;
-    MoveC(posture[0], posture[1], 0, 0.3);
+    MoveC(posture[0], posture[1], 0, 0.5);
 }
 
 void Z1ARM::armCtrlInJointCtrl(){
@@ -39,7 +39,7 @@ void Z1ARM::armCtrlInJointCtrl(){
 
     for(int i(0); i<1000;i++){
         directions<< 0, 0, 0, -1, 0, 0, -1;
-        jointCtrlCmd(directions, 0.5);
+        jointCtrlCmd(directions, 1.0);
         usleep(_ctrlComp->dt*1000000);
     }
 }
@@ -50,7 +50,7 @@ void Z1ARM::armCtrlInCartesian(){
     
     for(int i(0); i<2000;i++){
         directions<< 0, 0, 0, 0, 0, -1, -1;
-        cartesianCtrlCmd(directions, 0.3, 0.1);
+        cartesianCtrlCmd(directions, 0.3, 0.2);
         usleep(_ctrlComp->dt*1000000);
     }
 }

examples_py/example_highcmd.py

@@ -15,20 +15,20 @@ arm.loopOn()
 arm.labelRun("forward")
 arm.startTrack(armState.JOINTCTRL)
 for i in range(0, 1000):
-    arm.jointCtrlCmd(np.array([0,0,0,-1,0,0,-1]), 0.5)
+    arm.jointCtrlCmd(np.array([0,0,0,-1,0,0,-1]), 1.0)
     time.sleep(arm._ctrlComp.dt)
 
 # 2. highcmd_basic : armCtrlByFSM
 arm.labelRun("forward")
-arm.MoveJ(np.array([0.5,0.1,0.1,0.5,-0.2,0.5]), 0.0, 1.0)
-arm.MoveL(np.array([0,0,0,0.45,-0.2,0.2]), -1.0, 0.3)
-arm.MoveC(np.array([0,0,0,0.45,0,0.4]), np.array([0,0,0,0.45,0.2,0.2]), 0.0, 0.3)
+arm.MoveJ(np.array([0.5,0.1,0.1,0.5,-0.2,0.5]), 0.0, 2.0)
+arm.MoveL(np.array([0,0,0,0.45,-0.2,0.2]), -1.0, 0.5)
+arm.MoveC(np.array([0,0,0,0.45,0,0.4]), np.array([0,0,0,0.45,0.2,0.2]), 0.0, 0.5)
 
 # 3. highcmd_basic : armCtrlInCartesian
 arm.labelRun("forward")
 arm.startTrack(armState.CARTESIAN)
 for i in range(0, 1000):
-    arm.cartesianCtrlCmd(np.array([0,0,0,0,0,-1,-1]), 0.3, 0.1)
+    arm.cartesianCtrlCmd(np.array([0,0,0,0,0,-1,-1]), 0.3, 0.2)
     time.sleep(arm._ctrlComp.dt)
 
 arm.backToStart()