From 2ba467e024cd9abd1cc3a00158c1a413f40bfe3a Mon Sep 17 00:00:00 2001
From: wzx <17839623189@163.com>
Date: Tue, 26 Dec 2023 10:21:53 +0800
Subject: [PATCH] =?UTF-8?q?add=20unitree=5Flegged=5Fsdk=20=E7=BC=96?=
 =?UTF-8?q?=E8=AF=91?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
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---
 README.md                          | 18 ++++++++++++++++++
 ZKDogApi/README.md                 |  7 +++++--
 docs/unitree_legged_sdk编译问题.md |  9 +++++++++
 3 files changed, 32 insertions(+), 2 deletions(-)
 create mode 100644 docs/unitree_legged_sdk编译问题.md

diff --git a/README.md b/README.md
index e8bb38c..05b9288 100644
--- a/README.md
+++ b/README.md
@@ -156,7 +156,25 @@ python36 -m pip install XXX
 
 # 二、ZKMetaApi 使用
 
+## 1. 编译unitree_legged_sdk
+[unitree_legged_sdk](https://github.com/unitreerobotics/unitree_legged_sdk)  
+``` shell
+git clone https://github.com/unitreerobotics/unitree_legged_sdk.git
+cd unitree_legged_sdk
+mkdir build && cd build
+cmake .. && make
+# 如果需要使用python sdk
+cmake -DPYTHON_BUILD=TRUE .. && make
+```
+
+## 2. 使用python sdk
+### 2.1 arm架构
+机器狗所使用的处理器架构为arm  
+将example_py下的.py文件中```sys.path.append('../lib/python/amd64')```改为```sys.path.append('../lib/python/arm64')```
+### 2.2 amd架构
+PC端调试不需要更改example_py下的.py文件
 
 # Tips
 
+## [unitree_legged_sdk编译问题](docs/unitree_legged_sdk编译问题.md)
 ## [code-server安装插件证书问题](docs/code-server安装插件证书问题.md)
\ No newline at end of file
diff --git a/ZKDogApi/README.md b/ZKDogApi/README.md
index c47ab4c..74e084b 100644
--- a/ZKDogApi/README.md
+++ b/ZKDogApi/README.md
@@ -8,6 +8,9 @@
  * 
  * Copyright (c) 2023 by LLM, All Rights Reserved. 
 -->
-# zkmetaapi
-this is an api call zkmeta_api by Boss Qiu.
+# How to use ZKDogAPI?
+In this markdown file, we will introduce the usage of ZKDogAPI.
+## get lib
+You are recommend to read [How to compile the unitree_legged_sdk](../README.md) at first.  
+After compiling the python sdk, you can copy the robot_interface.cpython*.so to the directory named 'src'.
 
diff --git a/docs/unitree_legged_sdk编译问题.md b/docs/unitree_legged_sdk编译问题.md
new file mode 100644
index 0000000..5eb20b2
--- /dev/null
+++ b/docs/unitree_legged_sdk编译问题.md
@@ -0,0 +1,9 @@
+# 缺少boost库
+``` shell
+sudo apt install sudo apt-get install libboost-all-dev
+```
+# 找不到pybind11
+在 python_wrapper/CMakeLists.txt第14行添加
+```
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/third-party/pybind11/include)
+```
\ No newline at end of file