# RoboDog SDK
[English](README.md) | [中文](README_zh.md)
Python SDK for AlphaDog robotic dog control.
## Installation
```bash
pip install robodog
```
## Quick Start
1. Ensure your computer is on the same network as the robotic dog
2. Note the IP address of the robotic dog (default: 10.10.10.10)
### Basic Example
```python
from robodog import Dog
import time
with Dog() as dog:
# Adjust standing height
dog.body_height = 0.25
time.sleep(2)
# Restore default height
dog.set_parameters({'body_height': 0.23})
```
## Parameter Control Features
The SDK provides comprehensive parameter control capabilities:
### 1. Basic Motion Parameters
```python
dog.vx = 0.2 # Forward velocity (-1.0 to 1.0)
dog.vy = 0.1 # Lateral velocity (-1.0 to 1.0)
dog.wz = 0.1 # Rotational velocity (-1.0 to 1.0)
```
### 2. Posture Control
```python
dog.roll = 0.1 # Roll angle (-0.5 to 0.5)
dog.pitch = 0.1 # Pitch angle (-0.5 to 0.5)
dog.yaw = 0.1 # Yaw angle (-0.5 to 0.5)
dog.body_height = 0.25 # Body height (0.1 to 0.35)
```
### 3. Gait Parameters
```python
dog.foot_height = 0.08 # Foot lift height (0.0 to 0.15)
dog.swing_duration = 0.3 # Swing period (0.1 to 1.0)
dog.friction = 0.6 # Friction coefficient (0.1 to 1.0)
```
### 4. Advanced Control Features
Combined parameter settings:
```python
# Set gait parameters
dog.set_gait_params(
friction=0.6, # Friction coefficient
scale_x=1.2, # Support surface X scaling
scale_y=1.0 # Support surface Y scaling
)
# Set motion parameters
dog.set_motion_params(
swaying_duration=2.0, # Swaying period
jump_distance=0.3, # Jump distance
jump_angle=0.1 # Jump rotation angle
)
# Set control parameters
dog.set_control_params(
velocity_decay=0.8, # Velocity decay
collision_protect=1, # Collision protection
decelerate_time=2.0, # Deceleration delay
decelerate_duration=1.0 # Deceleration duration
)
```
## Example Programs
Check out `examples` for a complete demonstration including:
- Basic motion control demo
- Advanced motion parameter adjustment
- Complete parameter configuration showcase
- User mode switching demonstration
Running the example:
```bash
python examples/demo_basic_movement.py
```
### Contributing
Issues and pull requests are welcome. For major changes, please open an issue first to discuss proposed changes.
### License
This project is licensed under the MIT License - see the `LICENSE` file for details.
### Contact
For questions or suggestions:
- Submit GitHub Issues
- Email: <towardsrwby@gmail.com>
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"description": "# RoboDog SDK\n\n[English](README.md) | [\u4e2d\u6587](README_zh.md)\n\nPython SDK for AlphaDog robotic dog control.\n\n## Installation\n\n```bash\npip install robodog\n```\n\n## Quick Start\n\n1. Ensure your computer is on the same network as the robotic dog\n2. Note the IP address of the robotic dog (default: 10.10.10.10)\n\n### Basic Example\n\n```python\nfrom robodog import Dog\nimport time\n\nwith Dog() as dog:\n # Adjust standing height\n dog.body_height = 0.25\n time.sleep(2)\n \n # Restore default height\n dog.set_parameters({'body_height': 0.23})\n```\n\n## Parameter Control Features\n\nThe SDK provides comprehensive parameter control capabilities:\n\n### 1. Basic Motion Parameters\n\n```python\ndog.vx = 0.2 # Forward velocity (-1.0 to 1.0)\ndog.vy = 0.1 # Lateral velocity (-1.0 to 1.0)\ndog.wz = 0.1 # Rotational velocity (-1.0 to 1.0)\n```\n\n### 2. Posture Control\n\n```python\ndog.roll = 0.1 # Roll angle (-0.5 to 0.5)\ndog.pitch = 0.1 # Pitch angle (-0.5 to 0.5)\ndog.yaw = 0.1 # Yaw angle (-0.5 to 0.5)\ndog.body_height = 0.25 # Body height (0.1 to 0.35)\n```\n\n### 3. Gait Parameters\n\n```python\ndog.foot_height = 0.08 # Foot lift height (0.0 to 0.15)\ndog.swing_duration = 0.3 # Swing period (0.1 to 1.0)\ndog.friction = 0.6 # Friction coefficient (0.1 to 1.0)\n```\n\n### 4. Advanced Control Features\n\nCombined parameter settings:\n\n```python\n# Set gait parameters\ndog.set_gait_params(\n friction=0.6, # Friction coefficient\n scale_x=1.2, # Support surface X scaling\n scale_y=1.0 # Support surface Y scaling\n)\n\n# Set motion parameters\ndog.set_motion_params(\n swaying_duration=2.0, # Swaying period\n jump_distance=0.3, # Jump distance\n jump_angle=0.1 # Jump rotation angle\n)\n\n# Set control parameters\ndog.set_control_params(\n velocity_decay=0.8, # Velocity decay\n collision_protect=1, # Collision protection\n decelerate_time=2.0, # Deceleration delay\n decelerate_duration=1.0 # Deceleration duration\n)\n```\n\n## Example Programs\n\nCheck out `examples` for a complete demonstration including:\n\n- Basic motion control demo\n- Advanced motion parameter adjustment\n- Complete parameter configuration showcase\n- User mode switching demonstration\n\nRunning the example:\n\n```bash\npython examples/demo_basic_movement.py\n```\n\n### Contributing\n\nIssues and pull requests are welcome. For major changes, please open an issue first to discuss proposed changes.\n\n### License\n\nThis project is licensed under the MIT License - see the `LICENSE` file for details.\n\n### Contact\n\nFor questions or suggestions:\n\n- Submit GitHub Issues\n- Email: <towardsrwby@gmail.com>\n",
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