go1pylib: Python Library for Go1 Robot Control

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 in robotics.

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🌟 Features

• Robot Control: Control Go1's movements including forward, backward, turns, and pose adjustments.
• Battery Monitoring: Real-time battery status with configurable LED indicators.
• LED Control: Customizable LED color control based on robot state or custom feedback.
• MQTT Communication: Reliable MQTT communication for Go1 state management and control.
• Multiple Control Modes: Switch modes such as WALK, STAND for various scenarios.

🚀 Installation

Install the latest version of go1pylib with pip:

pip install go1pylib

💻 Usage

Here's an example to get started:

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())

It is recommended to try out the programs under examples/

📁 Examples

Find more examples in the examples directory for controlling the robot, collision avoidance, and LED control.

📁 Examples Progress

File Name	Status
avoid_obstacles.py	❌
dance.py	✅
get_state.py	❌
led_control.py	✅
move_forward.py	✅
move_joints.py	✅
square.py	✅

💡 Note

• Files marked with ❌ are currently not operational and need debugging or additional implementation to function correctly.
• All ✅ examples are fully functional and ready to use.

🗄️ Project Structure

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

📚 Documentation

Basic documentation can be found here. (Will be updated)

🤝 Contributing

Contributions are welcome! Check out our contributing guidelines for more information.

⚠️ License

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

💎 Acknowledgments

Special thanks to:

• go1-js by dbaldwin
• YushuTechUnitreeGo1 by MAVProxyUser
• Unitree Go1 Educational Documentation

Thank you to all contributors who made this project possible!