From 6c4dd6ed14ddbe001607b6195ff69145f355ea7b Mon Sep 17 00:00:00 2001 From: cyy_mac Date: Tue, 28 Jul 2026 15:53:06 +0800 Subject: [PATCH] decode from cpp --- .../bpu_deploy_x5/deploy_go1_robotlab_bpu_x5_fastcpp.py | 7 ++++--- .../deploy_go1_rlgym_pro_sdk_lab_fastcpp.py | 7 ++++--- 2 files changed, 8 insertions(+), 6 deletions(-) diff --git a/deploy_45dim_rl_gym/bpu_deploy_x5/deploy_go1_robotlab_bpu_x5_fastcpp.py b/deploy_45dim_rl_gym/bpu_deploy_x5/deploy_go1_robotlab_bpu_x5_fastcpp.py index 57fd858..ee67184 100644 --- a/deploy_45dim_rl_gym/bpu_deploy_x5/deploy_go1_robotlab_bpu_x5_fastcpp.py +++ b/deploy_45dim_rl_gym/bpu_deploy_x5/deploy_go1_robotlab_bpu_x5_fastcpp.py @@ -58,9 +58,10 @@ if SDK_FAST_LOW_CMD.exists(): sys.path.insert(0, str(SDK_FAST_LOW_CMD)) try: from fast_lowcmd import FastLowCmdBuilder + from fast_mcu import FastMCUClient except ImportError as exc: raise RuntimeError( - "C++ fast LowCmd backend is required for this entrypoint. " + "C++ fast LowCmd/LowState backend is required for this entrypoint. " "Build it first: cd /root/go1_pro_sdk/fast_lowcmd_cpp && " "PYTHONPATH=/root/go1_pro_sdk python3 setup.py build_ext --inplace" ) from exc @@ -69,7 +70,7 @@ DEFAULT_BPU_MODEL = ( HERE.parent / "bpu_quantization" / "mapper_output_6500_gemm" / "policy_robotlab_6500_int16_gemm.bin" ) -LOWCMD_BACKEND = "cpp_checked_servo12" +LOWCMD_BACKEND = "cpp_lowcmd_cpp_lowstate" SPORT_KILL_CMD = ( 'ssh pi@192.168.123.161 "sudo pkill -9 -f keep_sport_alive; ' 'sudo pkill -9 -f Legged_sport; sudo pkill -9 -f appTransit"' @@ -602,7 +603,7 @@ def connect_client(args): print(f"[INFO] LowCmd backend: {LOWCMD_BACKEND}") print("[INFO] Connecting to MCU...") - client = MCUClient() + client = FastMCUClient() print("[INFO] Waking MCU...") client.wake_mcu(n_frames=50, dt=0.01) state = client.recv_state(timeout=2.0) diff --git a/deploy_45dim_rl_gym/deploy_go1_rlgym_pro_sdk_lab_fastcpp.py b/deploy_45dim_rl_gym/deploy_go1_rlgym_pro_sdk_lab_fastcpp.py index 2e96cbf..5bd3d93 100644 --- a/deploy_45dim_rl_gym/deploy_go1_rlgym_pro_sdk_lab_fastcpp.py +++ b/deploy_45dim_rl_gym/deploy_go1_rlgym_pro_sdk_lab_fastcpp.py @@ -55,15 +55,16 @@ if SDK_FAST_LOW_CMD.exists(): sys.path.insert(0, str(SDK_FAST_LOW_CMD)) try: from fast_lowcmd import FastLowCmdBuilder + from fast_mcu import FastMCUClient except ImportError as exc: raise RuntimeError( - "C++ fast LowCmd backend is required for this entrypoint. " + "C++ fast LowCmd/LowState backend is required for this entrypoint. " "Build it first: cd /root/go1_pro_sdk/fast_lowcmd_cpp && " "PYTHONPATH=/root/go1_pro_sdk python3 setup.py build_ext --inplace" ) from exc DEFAULT_ONNX = HERE / "policy_robotlab_6500.onnx" -LOWCMD_BACKEND = "cpp_checked_servo12" +LOWCMD_BACKEND = "cpp_lowcmd_cpp_lowstate" SPORT_KILL_CMD = ( 'ssh pi@192.168.123.161 "sudo pkill -9 -f keep_sport_alive; ' 'sudo pkill -9 -f Legged_sport; sudo pkill -9 -f appTransit"' @@ -631,7 +632,7 @@ def connect_client(args): print(f"[INFO] LowCmd backend: {LOWCMD_BACKEND}") print("[INFO] Connecting to MCU...") - client = MCUClient() + client = FastMCUClient() print("[INFO] Waking MCU...") client.wake_mcu(n_frames=50, dt=0.01) state = client.recv_state(timeout=2.0)