************
B1 Robot Dog
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Revision History
================

+----------+-------------------+---------+--------------------------------------------------------------+
| Revision | Date (DD/MM/YYYY) | Author  | Changes                                                      |
+==========+===================+=========+==============================================================+
| 1        | 14/11/2022        | Kee Jin | Initial release                                              |
+----------+-------------------+---------+--------------------------------------------------------------+
| 2        | 18/01/2023        | Hans    | Update Resources, Specifications & Basic Operations sections |
+----------+-------------------+---------+--------------------------------------------------------------+

1. Overview
===========
The B1 robot dog is an industrial grade, 12 DOF, quadruped robot.

2. Specifications
=================
.. list-table:: Technical Specifications
   :widths: 25 25

   * - Dimensions (Proning State)
     - 1202mm x 467mm x 297mm
   * - Dimensions (Standing State)
     - 1126mm x 467mm x 636mm
   * - Operating Temperature
     - 5 - 40 ℃
   * - Maximum traversal tilt
     - 30 degrees
   * - Maximum stair-climbing height
     - 20cm
   * - Maximum Speed
     - 1.2m/s	
   * - Charging Time
     - 1h - 2h
   * - Average Running Time
     - Continuous standing\: 2.5h, Continuous walking: 2h
   * - Weight
     - 50kg
   * - Rated Load
     - Standing\: 80kg, Walking: 20kg
   * - Protection Level
     - IP67 (IP68 optional)
   * - Motor
     - 12 x Servo Geared motors

.. list-table:: What's In The Box
   :widths: 40 5
   :header-rows: 1

   * - Description
     - Amount
   * - B1 Robot (without) battery
     - x1
   * - B1 Battery
     - x1
   * - B1 Battery Charger
     - x1
   * - Remote Controller
     - x1
   * - Remote Controller Charger and Type-C Cable
     - x1
   * - User Extension Dock
     - x1
   * - User Extension Dock USB Cable (15cm)
     - x1
   * - User Extension Dock Power Cable (10cm)
     - x1
   * - User Extension Dock 16 Pin Cable (15cm)
     - x1

3. Basic Operations
===================
The B1 can be operated in 2 ways, manual control using the included remote control 
or programmatically through Unitree's sdk.

Both methods are detailed in the user guides included in the :ref:`Resources<B1 Resources>` section below

:red:`Note: Unitree's SDK robot support is version specific, please check that you are using the correct version. Latest supported version for the B1 is v3.8.3`

.. _B1 Resources:
4. Resources
============
* User guide: `Getting Started with B1 <https://tangrobot.sharepoint.com/:b:/s/Public-Outgoing/ETYapVcB8kRMoX1rOmjZxnIBLjz8isr6J2Hi4Oil-JxBTw?e=qsIXs8>`_
* Instructional video: `Instructional video <https://youtu.be/nP6fa-LCz6g>`_
* SDK: `unitree_legged_sdk <https://github.com/westonrobot/unitree_legged_sdk>`_
* SDK Guide (CN): `B1 SDK Guide <https://tangrobot.sharepoint.com/:b:/s/Public-Outgoing/EWDXLQRK4yJBp9y6m5s7bVQBOttWoZh8VLISD2rJVMEDXQ?e=ZpE0Fh>`_
* ROS Control package: `unitree_ros_to_real <https://github.com/unitreerobotics/unitree_ros_to_real/tree/B1>`_
* Basic Training Slides: `PDF <https://tangrobot.sharepoint.com/:b:/s/Public-Outgoing/EfYWQUWjRMRNuJtq5xKvDC8BpxQgOsn5rl0p5fnYAjbnPg?e=AdrUwU>`_
* CAD File: `B1 STEP file <https://tangrobot.sharepoint.com/:f:/s/Public-Outgoing/EmaC4l97lJ5Ms3YwN60R354B2zgJRyyn-pYI5czAnoTS0A?e=EuEVq3>`_