Asimov Firmware

• Overview
  • I want to control the robot
  • I want to run my own policy
  • I want to modify the firmware
  • How It Works
• Quick Start
  • 1. Get the proto file
  • 2. Generate Python bindings
  • 3. Send your first command
  • 4. Read telemetry
  • 5. Make it walk
  • Important
  • Next Steps
• Examples
  • Prerequisites
  • Scripts
  • Running
  • Common Pattern
  • Stand Up
  • Walk Forward
  • Read Telemetry
• Protocol
  • Files
  • RobotCommand
  • RobotState (Telemetry)
• RL Policy
  • ONNX Model Requirements
  • Observation Vector (47 elements)
  • Action Vector (12 elements)
  • ONNX Metadata
  • PyTorch Export Example
  • Deploying
  • Source Files
• Internals
  • Threads
  • Shared State (g_app)
  • Data Flow
  • Internal Structs
  • Important Constants
  • Source Files
• Hardware
  • Motors
  • CAN Buses
  • IMU
  • Coordinate Frames
  • Source Files
• Debugging
  • Quick Reference
  • Live Monitoring
  • Data Logging
  • Diagnosing Motor Issues
  • CAN Protocol Reference
  • Visualization Tools
  • Workflow Summary
  • Source Files
• API Reference
  • Key Headers
  • Building the Docs
  • Regenerating After Code Changes