Aegis 四足机器人 SDK

# 在机器人上（aarch64）
pip install wheels/ff_sdk-0.1.0a0-cp310-cp310-linux_aarch64.whl

# 在 Linux 开发机上（x86_64）
pip install wheels/ff_sdk-0.1.0a0-cp310-cp310-linux_x86_64.whl

# 验证
python -c "import ff_sdk; print(ff_sdk.__version__)"

FF_SDK_DRY_RUN=1 python examples/01_hello_connect.py

import asyncio, ff_sdk

async def main():
    dog = await ff_sdk.connect("D1-DEMO")
    try:
        report = dog.diagnose()                      # 先体检
        print(report)

        await dog.motion.stand()                     # 站立
        await asyncio.sleep(4)

        await dog.motion.cmd_vel(linear=0.3)         # 前进 0.3 m/s
        await asyncio.sleep(2)
        await dog.motion.stop()

        battery = await dog.state.battery()
        print(f"电量 {battery.percent:.0%}")

        await dog.motion.do_preset("shake_hand")     # 握手特技
        await asyncio.sleep(dog.motion.preset_timeout("shake_hand"))

        await dog.motion.damping()                   # 收尾：阻尼（软急停）
    finally:
        await dog.close()

asyncio.run(main())

import ff_sdk
from ff_sdk import Config

# 方式 1：全用默认 / 环境变量
dog = await ff_sdk.connect("D1-DEMO")

# 方式 2：显式 Config（平台特定项放 extra）
cfg = Config.from_env()
cfg.extra["d1_host"] = "192.168.1.100"
cfg.extra["d1_variant"] = "zsl-1"
dog = await ff_sdk.connect("D1-DEMO", config=cfg)

# 方式 3：纯代码构造
cfg = Config(transport_timeout=5.0, dry_run=False,
             extra={"d1_variant": "zsl-1"})
dog = await ff_sdk.connect("D1-DEMO", config=cfg)

async with await ff_sdk.connect("D1-DEMO") as dog:
    await dog.motion.stand()
    ...
# 离开 with 块自动 close()，异常也不会泄漏连接

print(dog.capabilities())
# {'motion', 'state', ...}

if "motion" in dog.capabilities():
    await dog.motion.stand()

res = await dog.motion.do_preset("shake_hand")
# 用建议时长等动作做完，再发下一条指令
await asyncio.sleep(dog.motion.preset_timeout("shake_hand"))

print(dog.motion.known_presets())   # 当前机型支持的全部动作名

from ff_sdk.core.exceptions import CapabilityNotSupported

try:
    joints = await dog.state.joint_states()
    print(f"{len(joints.names)} 个关节")
    for name, pos in zip(joints.names, joints.positions):
        print(f"  {name}: {pos:+.3f} rad")
except CapabilityNotSupported as e:
    # 部分轮足已出厂固件不支持关节遥测（运动控制不受影响）
    print(f"该机型/固件不支持关节遥测: {e}")

# 方式 1：环境变量（推荐，不改代码）
export FF_SDK_D1_VARIANT=zsl-1      # 点足 / EDU / Ultra
export FF_SDK_D1_VARIANT=zsl-1w     # 轮足（不设时的默认值）

cfg = Config.from_env()
cfg.extra["d1_variant"] = "zsl-1"
dog = await ff_sdk.connect("D1-DEMO", config=cfg)

from ff_sdk import skills

result = await skills.wave(dog)              # Aegis 上自动映射为握手
result = await skills.bow(dog)               # 自动映射为点头
result = await skills.greet(dog, "朋友")     # 招手 + （支持语音的平台）打招呼
print(result)   # {"ok": True, "message": "...", "platform": "..."}

import ff_sdk
from ff_sdk.core.exceptions import (
    CapabilityNotSupported, EStopActiveError, StateError)

try:
    await dog.motion.stand()
except CapabilityNotSupported as e:
    print(f"此机型不支持: {e}")
except EStopActiveError:
    print("急停激活中，请先排除险情再复位")
except StateError as e:
    print(f"当前状态不允许: {e}")   # 例如正在充电

report = dog.diagnose()
print(report)
# 各链路（控制通道 / 遥测通道 / 运动后端）在线状态一目了然
# 排错第一步永远是看这个，而不是猜