Add g1 arm action example

Author: Agnel-Wang

example/g1/CMakeLists.txt

@@ -8,6 +8,9 @@ target_link_libraries(g1_arm5_sdk_dds_example unitree_sdk2)
 add_executable(g1_arm7_sdk_dds_example high_level/g1_arm7_sdk_dds_example.cpp)
 target_link_libraries(g1_arm7_sdk_dds_example unitree_sdk2)
 
+add_executable(g1_arm_action_example high_level/g1_arm_action_example.cpp)
+target_link_libraries(g1_arm_action_example unitree_sdk2)
+
 add_executable(g1_ankle_swing_example low_level/g1_ankle_swing_example.cpp)
 target_link_libraries(g1_ankle_swing_example unitree_sdk2)
 
@@ -17,6 +20,7 @@ target_link_libraries(g1_audio_client_example unitree_sdk2)
 add_executable(g1_dex3_example dex3/g1_dex3_example.cpp)
 target_link_libraries(g1_dex3_example unitree_sdk2)
 
+
 find_package(yaml-cpp QUIET)
 if(yaml-cpp_FOUND)
     if (${yaml-cpp_VERSION} VERSION_GREATER_EQUAL "0.6")

example/g1/high_level/g1_arm_action_example.cpp

@@ -0,0 +1,80 @@
+/**
+ * @file g1_arm_action_example.cpp
+ * @brief This example demonstrates how to use the G1 Arm Action Client to execute predefined arm actions.
+ */
+#include "unitree/robot/g1/arm/g1_arm_action_error.hpp"
+#include "unitree/robot/g1/arm/g1_arm_action_client.hpp"
+
+using namespace unitree::robot::g1;
+
+int main(int argc, const char** argv) 
+{
+    std::cout << " --- Unitree Robotics --- \n";
+    std::cout << "     G1 Arm Action Example      \n\n";
+
+    // Unitree DDS Initialization; arg[1] is the network interface
+    unitree::robot::ChannelFactory::Instance()->Init(0, argc > 1 ? argv[1] : "");
+
+    auto client = std::make_shared<unitree::robot::g1::G1ArmActionClient>();
+    client->Init();
+    client->SetTimeout(10.f); // All actions will last less than 10 seconds.
+
+    std::cout << "Usage: \n";
+    std::cout << "  - 0: print supported actions.\n";
+    std::cout << "  - an id: execute an action.\n";
+    std::cout << "Attention: \n";
+    std::cout << "  Some actions will not be displayed on the APP, \n"; 
+    std::cout << "  but can be executed by the program.\n";
+    std::cout << "  These actions may cause the robot to fall,\n";
+    std::cout << "  so please execute them with caution.\n";
+
+    int32_t action_id = 0;
+    std::string line;
+    while (true) {
+        std::cout << "\nEnter action ID: .\n";
+        std::getline(std::cin, line);
+        try {
+            action_id = std::stoi(line);
+        } catch (const std::exception&) {
+            std::cout << "Invalid input. Please enter an integer.\n";
+            continue;
+        }
+
+        if (action_id == 0) {
+            std::string action_list_data;
+            int32_t ret = client->GetActionList(action_list_data);
+            if (ret != 0) {
+                std::cerr << "Failed to get action list, error code: " << ret << "\n";
+                continue;
+            }
+            std::cout << "Available actions:\n" << action_list_data << std::endl;
+        } else {
+            int32_t ret = client->ExecuteAction(action_id);
+            if(ret != 0) {
+                switch (ret)
+                {
+                case UT_ROBOT_ARM_ACTION_ERR_ARMSDK:
+                    std::cout << UT_ROBOT_ARM_ACTION_ERR_ARMSDK_DESC << std::endl;
+                    break;
+                case UT_ROBOT_ARM_ACTION_ERR_HOLDING:
+                    std::cout << UT_ROBOT_ARM_ACTION_ERR_HOLDING_DESC << std::endl;
+                    break;
+                case UT_ROBOT_ARM_ACTION_ERR_INVALID_ACTION_ID:
+                    std::cout << UT_ROBOT_ARM_ACTION_ERR_INVALID_ACTION_ID_DESC << std::endl;
+                    break;
+                case UT_ROBOT_ARM_ACTION_ERR_INVALID_FSM_ID:
+                    std::cout << "The actions are only supported in fsm id {500, 501, 801}" << std::endl;
+                    std::cout << "You can subscribe the topic rt/sportmodestate to check the fsm id." << std::endl;
+                    std::cout << "And in the state 801, the actions are only supported in the fsm mode {0, 3}." << std::endl;
+                    std::cout << "If an error is still returned at this point, ignore this action.";
+                    break;
+                default:
+                    std::cerr << "Execute action failed, error code: " << ret << std::endl;
+                    break;
+                }
+            }
+        }
+    }
+
+    return 0;
+};

include/unitree/robot/g1/arm/g1_arm_action_api.hpp

@@ -14,6 +14,7 @@ const std::string ARM_ACTION_API_VERSION = "1.0.0.14";
 
 /*api id*/
 const int32_t ROBOT_API_ID_ARM_ACTION_EXECUTE_ACTION = 7106;
+const int32_t ROBOT_API_ID_ARM_ACTION_GET_ACTION_LIST = 7107;
 
 class JsonizeArmActionCommand : public common::Jsonize {
  public:

include/unitree/robot/g1/arm/g1_arm_action_client.hpp

@@ -23,6 +23,7 @@ class G1ArmActionClient : public Client {
     void Init() {
       SetApiVersion(ARM_ACTION_API_VERSION);
       UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_ARM_ACTION_EXECUTE_ACTION);
+      UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_ARM_ACTION_GET_ACTION_LIST);
   }
 
   /*API Call*/
@@ -36,6 +37,11 @@ class G1ArmActionClient : public Client {
     return Call(ROBOT_API_ID_ARM_ACTION_EXECUTE_ACTION, parameter, data);
   }
 
+  int32_t GetActionList(std::string &data) {
+    std::string parameter;
+    return Call(ROBOT_API_ID_ARM_ACTION_GET_ACTION_LIST, parameter, data);
+  }
+
   /*Action List*/
   std::map<std::string, int32_t> action_map = {
     {"release arm", 99},

include/unitree/robot/g1/arm/g1_arm_action_error.hpp

@@ -6,9 +6,13 @@ namespace unitree {
 namespace robot {
 namespace g1 {
 
-UT_DECL_ERR(UT_ROBOT_ARM_ACTION_ERR_ARMSDK, 7400, "armsdk is occupied.")
-UT_DECL_ERR(UT_ROBOT_ARM_ACTION_ERR_HOLDING, 7401, "The arm is holding. Only release is allowed.")
+UT_DECL_ERR(UT_ROBOT_ARM_ACTION_ERR_ARMSDK, 7400, "The topic rt/armsdk is occupied.")
+UT_DECL_ERR(UT_ROBOT_ARM_ACTION_ERR_HOLDING, 7401, "The arm is holding. Expecting release action(99) or the same last action id.")
 UT_DECL_ERR(UT_ROBOT_ARM_ACTION_ERR_INVALID_ACTION_ID, 7402, "Invalid action id.")
+// The actions are only supported in fsm id {500, 501, 801};
+// You can subscribe the topic rt/sportmodestate to check the fsm id.
+// And in the state 801, the actions are only supported in the fsm mode {0, 3}.
+// See https://support.unitree.com/home/en/G1_developer/sport_services_interface#Expert%20interface
 UT_DECL_ERR(UT_ROBOT_ARM_ACTION_ERR_INVALID_FSM_ID, 7404, "Invalid fsm id.")
 
 }  // namespace g1