这是一个用于 Dex1_1 夹爪的 serial2dds 服务。
Dex1_1 是 Unitree 开发的夹爪，为具⾝智能应⽤⽽⽣。
# 在用户开发计算单元 PC2（NVIDIA Jetson Orin NX 板）
sudo apt install libspdlog-dev libboost-all-dev libyaml-cpp-dev libfmt-dev
cd ~
git clone https://github.com/unitreerobotics/dex1_1_service
cd dex1_1_service
mkdir build && cd build
cmake ..
make -j6# 运行 `sudo ./dex1_1_gripper_server -h` 查看帮助详情。输出为：
# Unitree Dex1-1 Gripper Server:
# -h [ --help ] produce help message
# -v [ --version ] show version
# -n [ --network ] arg (=eth0) dds networkInterface
# -c [ --calibration ] calibrate the gripper motor
# 启动服务器
sudo ./dex1_1_gripper_server --network eth0
# 简化方式（默认参数）
sudo ./dex1_1_gripper_server
# 运行 `sudo ./test_dex1_1_gripper_server -h` 查看帮助详情。输出为：
# Unitree Dex1-1 Gripper Server Test:
# -h [ --help ] produce help message
# -v [ --version ] show version
# -n [ --network ] arg (=eth0) dds networkInterface
# -l [ --left ] test left dex1 gripper
# -r [ --right ] test right dex1 gripper
# 运行测试示例
sudo ./test_dex1_1_gripper_server --network eth0 -l -r
# 仅测试左侧或右侧夹爪
sudo ./test_dex1_1_gripper_server --network eth0 -l
# 或仅测试右侧夹爪
sudo ./test_dex1_1_gripper_server -r💡 注意：电机 ID 为 0 时，设定为右侧夹爪； ID 为 1 时，设定为左侧夹爪
闭合夹爪并运行以下命令进行电机标定。
sudo ./dex1_1_gripper_server -c以下是标定过程示例输出。
unitree@ubuntu:~/dex1_1_service/build$ sudo ./dex1_1_gripper_server -c
[2025-01-01 00:00:26.514] [info] Available Serial Ports: /dev/ttyUSB3, /dev/ttyUSB2, /dev/ttyUSB1, /dev/ttyUSB0
[2025-01-01 00:00:26.669] [info] Detected motors:
[2025-01-01 00:00:26.669] [info] - Motor ID: 0 Side: Right Port: /dev/ttyUSB2 cmdTopic: rt/dex1/Right/cmd stateTopic: rt/dex1/Right/state
[2025-01-01 00:00:26.669] [info] - Motor ID: 1 Side: Left Port: /dev/ttyUSB1 cmdTopic: rt/dex1/Left/cmd stateTopic: rt/dex1/Left/state
[2025-01-01 00:00:26.669] [info] ========== Motor Calibration (Motor 1 (index) of 2 (total)) ==========
[2025-01-01 00:00:26.669] [info] - Motor ID: 0, Side: Right, Port: /dev/ttyUSB2
[2025-01-01 00:00:26.669] [info] Please manually close the gripper tightly.
Then press 's' + Enter to calibrate, or any other key to skip.
>你需要像图中一样手动紧闭夹爪。
紧闭合后，按 s 键，然后 Enter。
> s
[2025-01-01 00:00:28.024] [info] Calibrating motor 0...
Motor type: MotorType::M4010
Id: 0
Calibration successful!
[2025-01-01 00:00:28.042] [info] Motor 0 calibration successful.
[2025-01-01 00:00:28.042] [info] ========== Motor Calibration (Motor 2 (index) of 2 (total)) ==========
[2025-01-01 00:00:28.042] [info] - Motor ID: 1, Side: Left, Port: /dev/ttyUSB1
[2025-01-01 00:00:28.042] [info] Please manually close the gripper tightly.
Then press 's' + Enter to calibrate, or any other key to skip.
>与上一步相同，继续标定第二个夹爪。
> s
[2025-01-01 00:00:28.881] [info] Calibrating motor 1...
Motor type: MotorType::M4010
Id: 1
Calibration successful!
[2025-01-01 00:00:28.903] [info] Motor 1 calibration successful.
[2025-01-01 00:00:28.903] [info] Calibration process completed.检查结果。
unitree@ubuntu:~/dex1_1_service/build$ sudo ./test_dex1_1_gripper_server -l -r
# 夹爪初始位置应接近零
[2025-01-01 00:00:13.776] [info] Right gripper init at q = 0.001
[2025-01-01 00:00:14.978] [info] Left gripper init at q = 0.000
R= 0.508 L= 0.502
class UnitreeActuator(DelayedPDActuator):
"""Unitree actuator class that implements a torque-speed curve for the actuators.
The torque-speed curve is defined as follows:
Torque Limit, N·m
^
Y2──────────|
|──────────────Y1
| │\
| │ \
| │ \
| | \
------------+--------------|------> velocity: rad/s
X1 X2
- Y1: Peak Torque Test (Torque and Speed in the Same Direction)
- Y2: Peak Torque Test (Torque and Speed in the Opposite Direction)
- X1: Maximum Speed at Full Torque (T-N Curve Knee Point)
- X2: No-Load Speed Test
- Fs: Static friction coefficient
- Fd: Dynamic friction coefficient
- Va: Velocity at which the friction is fully activated
"""
cfg: UnitreeActuatorCfg
armature: torch.Tensor
"""The armature of the actuator joints. Shape is (num_envs, num_joints).
armature = J2 + J1 * i2 ^ 2 + Jr * (i1 * i2) ^ 2
"""
# ...
@configclass
class UnitreeActuatorCfg(DelayedPDActuatorCfg):
"""
Configuration for Unitree actuators.
"""
class_type: type = UnitreeActuator
X1: float = 1e9
"""Maximum Speed at Full Torque(T-N Curve Knee Point) Unit: rad/s"""
X2: float = 1e9
"""No-Load Speed Test Unit: rad/s"""
Y1: float = MISSING
"""Peak Torque Test(Torque and Speed in the Same Direction) Unit: N*m"""
Y2: float | None = None
"""Peak Torque Test(Torque and Speed in the Opposite Direction) Unit: N*m"""
Fs: float = 0.0
""" Static friction coefficient """
Fd: float = 0.0
""" Dynamic friction coefficient """
Va: float = 0.01
""" Velocity at which the friction is fully activated """
@configclass
class UnitreeActuatorCfg_W4010_25(UnitreeActuatorCfg):
X1 = 15.3
X2 = 24.76
Y1 = 4.8
Y2 = 8.6
Fs = 0.6
Fd = 0.06
"""
| rotor | 0.068e-4 kg·m²
| gear_1 | | ratio | 5
| gear_2 | | ratio | 5
"""
armature = 0.00425在完成上述设置和配置，并成功测试 dex1_1_gripper_server 后，你可以通过运行以下脚本，将 dex1_1_gripper_server 配置为系统启动时自动运行：
bash setup_autostart.sh按照脚本中的提示完成配置。
-
make -j6出错：unitree@ubuntu:~/dex1_1_service/build$ make -j6 Scanning dependencies of target dex1_1_gripper_server Scanning dependencies of target test_dex1_1_gripper_server [ 50%] Building CXX object CMakeFiles/test_dex1_1_gripper_server.dir/test/test_gripper.cpp.o [ 50%] Building CXX object CMakeFiles/dex1_1_gripper_server.dir/main.cpp.o /home/unitree/dex1_1_service/test/test_gripper.cpp:1:10: fatal error: unitree/idl/go2/MotorCmds_.hpp: No such file or directory 1 | #include <unitree/idl/go2/MotorCmds_.hpp> | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /home/unitree/dex1_1_service/main.cpp:1:10: fatal error: unitree/idl/go2/MotorCmds_.hpp: No such file or directory 1 | #include <unitree/idl/go2/MotorCmds_.hpp> | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ compilation terminated. compilation terminated.
该错误说明 unitree_sdk2 头文件未找到。先编译并安装 unitree_sdk2：
cd ~ git clone https://github.com/unitreerobotics/unitree_sdk2 cd unitree_sdk2 mkdir build & cd build cmake .. sudo make install
-
sudo ./dex1_1_gripper_server出错：unitree@ubuntu:~/dex1_1_service/build$ sudo ./dex1_1_gripper_server [2025-08-14 09:56:53.595] [info] Available Serial Ports: /dev/ttyUSB3, /dev/ttyUSB2, /dev/ttyUSB1, /dev/ttyUSB0 [2025-08-14 09:56:54.339] [error] Motors not found after multiple attempts. # or unitree@ubuntu:~/dex1_1_service/build$ sudo ./dex1_1_gripper_server [2025-08-14 09:58:12.010] [info] Available Serial Ports: [2025-08-14 09:58:12.010] [warning] No ttyUSB serial ports found.
上述两种情况为：
- 夹爪电源未连接或线路接触不良。
- 夹爪串口板（连接到 G1 USB 口）未连接或线路接触不良。