A1 Quadruped Tutorials
======================

.. image:: media/a1_banner.jpg
    :alt: A1 Robot
    :class: mbsrounded

.. meta::
   :description: Access comprehensive user manuals, tutorials, and documentation for the Unitree A1 quadruped robot. Explore detailed setup procedures, operational guidelines, and programming techniques tailored for the A1 robot across various applications.
   :keywords: quadruped robotics, robotics documentation, quadruped robots, robotics tutorials, a1 documentation, mbs docs, a1 mbs docs,unitree, quadruped a1, robot, documentation, user manual, tutorials, setup, operation, programming
   
This package supplies Sphinx-based tutorial content to assist you with setting up and operating your A1_
quadruped robot. The tutorials topics are listed in the left column, and presented in the suggested reading order.

.. _A1: https://www.quadruped.de/QUADRUPEDs

.. Warning::
  These tutorials assume that you are comfortable working with ROS.  We recommend starting with our
  `ROS tutorial`_ if you are not familiar with ROS already.

.. _ROS tutorial: http://wiki.ros.org/ROS/Tutorials

:doc:`Simulation <simulation>` is a logical place for most users to start, as this is universally applicable;
understanding how to effectively operate A1 in simulation is valuable whether you are in the testing
phase with software you intend to ultimately deploy on a real A1, or you do not have one and are
simply exploring the platform's capabilities.

:doc:`Navigation <navigation>` is a follow-on to what is learned in the simulation tutorial, as navigation and
map-making may be run in the simulated environment. However, this content is applicable to both the simulator
and the real platform, if equipped with a laser scanner.

The remainder of the subjects are more applicable to the real robot, and have to do with configuring, using,
and maintaining the platform. If you are a lab administrator rather than direct platform user, you may wish to
skip the introductory chapters and jump straight to these ones.

.. important:: 

   The following text are hyperlinks to manuals and repositories. Click on them to get redirected to the websites.

   - `A1 User Manual <https://my.hidrive.com/lnk/tNCVSeUU>`__
   - `A1 Android App <https://unitreeapp.oss-cn-beijing.aliyuncs.com/UnitreeApp.zip>`__
   - `A1 iOS App <https://testflight.apple.com/join/HkN8x2vc>`__
   - `A1 Unitree SDK Github <https://github.com/unitreerobotics/unitree_legged_sdk/releases/tag/v3.2>`__
   - `A1 Starting Robot <https://www.youtube.com/watch?v=Xz6d1gaBCTk>`__
   - `A1 Robot Video Guide <https://youtu.be/2vTFCTJiOH0>`__
   - `A1 Paw Replacement Video Guide <https://www.youtube.com/watch?v=iOq0IFXOSaE>`__
   - `A1 App Video Guide <https://www.youtube.com/watch?v=Kj7GrVpBWWc>`__
   - `Manufacturers Documentation <https://www.yuque.com/ironfatty/nly1un/fscioc>`__


.. toctree::
    :titlesonly:
    :hidden:
    :caption: Quadruped A1

    Overview <self>
    quick_start

.. toctree::
    :titlesonly:
    :hidden:
    :caption: Setup

    dependency
    a1_driver_2.8
    a1_driver_3.2
    perception
    

.. toctree::
    :titlesonly:
    :hidden:
    :caption: Navigation and Mapping

    slam
    navigation

.. toctree::
    :titlesonly:
    :hidden:
    :caption: Simulation

    simulation

.. toctree::
    :titlesonly:
    :hidden:
    :caption: Upgrade Options 

    robots
    robot_upgrade
    
.. toctree::
    :titlesonly:
    :hidden:
    :caption: Getting Help

    getting_help
    getting_involved
    faq 
    a1_motor