go1pylib: Python Library for Go1 Robot Control

https://img.shields.io/pypi/pyversions/go1pylib

go1pylib is a Python library designed for controlling the Go1 robot, providing high-level methods for robot movement, state management, and collision avoidance. With built-in functionality for MQTT communication and control modes, go1pylib is ideal for both development and research use in robotics applications.

Features

Robot Control: Seamlessly control Go1’s movements, including forward, backward, turns, and various pose adjustments.
Collision Avoidance: Built-in methods for safe navigation with customizable thresholds for obstacle detection.
Battery Monitoring: Real-time battery status feedback with configurable LED indicators based on battery levels.
LED Control: Control LED colors for custom feedback based on robot state or user-defined actions.
MQTT Communication: Reliable MQTT communication interface for Go1 state management and control.
Multiple Control Modes: Switch between modes such as WALK and STAND for different application scenarios.

Installation

Install the latest version of go1pylib using pip:

pip install go1pylib

Usage

Here’s a quick example demonstrating basic usage:

import asyncio
from go1pylib import Go1, Go1Mode

async def main():
    robot = Go1()
    robot.init()  # Connect to the robot

    # Set to WALK mode and move forward
    robot.set_mode(Go1Mode.WALK)
    await robot.go_forward(speed=0.3, duration_ms=1000)

    # Check battery status
    battery_level = robot.get_battery_level()
    print(f"Battery Level: {battery_level}%")

    # Stop and disconnect
    robot.set_mode(Go1Mode.STAND_DOWN)
    robot.disconnect()

asyncio.run(main())

Examples

Examples for controlling the robot, collision avoidance, and LED control can be found in the examples directory.

Project Structure

go1pylib/
├── examples/
│   ├── move_forward.py
│   ├── dance.py
│   └── avoid_obstacles.py
├── src/
│   └── go1pylib/
│       ├── go1.py
│       ├── mqtt/
│       ├── state.py
│       └── ...
├── tests/
└── README.md

Documentation

Complete documentation can be found here.

Contributing

Contributions are welcome! Please see our contributing guidelines for more information.

License

This project is licensed under the MIT License. See the LICENSE file for details.