Not knowing what I don’t know is a real problem, as I have no recent (like 25 years) programming/coding experience. While I was able to get the low level example to work, It doesn’t really help as a tool to learn how to program the Go1. I guess I expected a layout of the joints with some type of labeling system and how to actuate them. The learning curve on this thing is high.
@dbaldwin I noticed that you have a gist for Unitree Go1 Wireless Network Setup for Low Level Control. After trying your wired version, I was wondering if you were going to do a video for the Wireless? Thanks.
I got the low level Ros to real example to work, but I still have no idea how to actually manipulate the joints. I would like to be able to do this move with the Go1 standing.
@Fritz nice work! Getting Go1 low level control to work while standing is going to be a challenge. It will require some knowledge of inverse kinematics. We have looked into this extensively and requested that Unitree add support for low level control in Gazebo. This would be much easier/better for development purposes. Otherwise, we run the risk of burning out a motor or causing Go1 to fall and break something. We will explore/share more about low level control soon, but I’d advise that you continue to keep testing while suspended. If there’s something in particular you’re looking to do then I’d be happy to offer assistance where I can. Here is a recent example of ROS high-level if you’re interested:
Keep exploring! I’m sure it will lead to some cool stuff 
@dbaldwin Thanks for the answer and the encouragement. This is way more difficult that I expected, and support from Unitree has been lacking, and even disingenuous. I just wanted to try something I thought would be relatively simple, like having the dog standing and offering a “paw”.
@Fritz I feel your pain. I thought lifting one leg in a “urinating” fashion would be an easy task to psych out the basketball opponents during a game. As is usually the case, once you get a few layers of abstraction into something it gets pretty intense.
@dbaldwin I am trying your Ros and Turtlesim video and got to this point, and don’t know why it can’t find the file or directory. I’ve gone over it a few times and I’m lost. C
Make sure you’ve run catkin_make, which will create the devel directory. Read through the steps here if you haven’t seen them already:
Also, for future questions/correspondence would you mind creating a new topic here so we can keep things organized?
Thanks so much and let us know how you get along.
