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Roy-dkRoy-dk
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feat(go2): add some new supported go2 sports APIs,delete deprecated functions that are no longer supported
Now the APIs of `SportClient` in the following list are supported: | name | value | example | | :------------------------------------ | :---- | :---- | | ROBOT_SPORT_API_ID_HEART | 1036 |Heart(); | | ROBOT_SPORT_API_ID_STATICWALK | 1061 |StaticWalk(); | | ROBOT_SPORT_API_ID_TROTRUN | 1062 |TrotRun(); | | ROBOT_SPORT_API_ID_ECONOMICGAIT | 1063 |EconomicGait(); | | ROBOT_SPORT_API_ID_LEFTFLIP | 2041 |LeftFlip(); | | ROBOT_SPORT_API_ID_BACKFLIP | 2043 |BackFlip(); | | ROBOT_SPORT_API_ID_HANDSTAND | 2044 |HandStand(); | | ROBOT_SPORT_API_ID_FREEWALK | 2045 |FreeWalk(); | | ROBOT_SPORT_API_ID_FREEBOUND | 2046 |FreeBound(); | | ROBOT_SPORT_API_ID_FREEJUMP | 2047 |FreeJump(); | | ROBOT_SPORT_API_ID_FREEAVOID | 2048 |FreeAvoid(); | | ROBOT_SPORT_API_ID_CLASSICWALK | 2049 |ClassicWalk(); | | ROBOT_SPORT_API_ID_WALKUPRIGHT | 2050 |WalkUpright(); | | ROBOT_SPORT_API_ID_CROSSSTEP | 2051 |CrossStep(); | | ROBOT_SPORT_API_ID_AUTORECOVERY_SET | 2054 |AutoRecoverySet(); | | ROBOT_SPORT_API_ID_AUTORECOVERY_GET | 2055 |AutoRecoveryGet(); | | ROBOT_SPORT_API_ID_SWITCHAVOIDMODE | 2058 |SwitchAvoidMode(); | BREAKING CHANGE: The functions or API IDs in the following list are no longer supported. If you need to use a new version, please remove the following references: | API ID | Macro Definition | Function Name | | :----- | :------------------------------------ | :------------------- | | 1011 | ROBOT_SPORT_API_ID_SWITCHGAIT | SwitchGait() | | 1012 | ROBOT_SPORT_API_ID_TRIGGER | Trigger() | | 1013 | ROBOT_SPORT_API_ID_BODYHEIGHT | BodyHeight() | | 1014 | ROBOT_SPORT_API_ID_FOOTRAISEHEIGHT | FootRaiseHeight() | | 1018 | ROBOT_SPORT_API_ID_TRAJECTORYFOLLOW | TrajectoryFollow() | | 1019 | ROBOT_SPORT_API_ID_CONTINUOUSGAIT | ContinuousGait() | | 1021 | ROBOT_SPORT_API_ID_WALLOW | Wallow() | | 1024 | ROBOT_SPORT_API_ID_GETBODYHEIGHT | BodyHeight | | 1025 | ROBOT_SPORT_API_ID_GETFOOTRAISEHEIGHT | (No direct function) | | 1026 | ROBOT_SPORT_API_ID_GETSPEEDLEVEL | (No direct function) |
1 parent 404fe44 commit 026978e

3 files changed

Lines changed: 140 additions & 249 deletions

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‎example/go2/high_level/go2_sport_client.py‎

Lines changed: 11 additions & 26 deletions
Original file line numberDiff line numberDiff line change
@@ -24,17 +24,14 @@ class TestOption:
2424
TestOption(name="move lateral", id=4),
2525
TestOption(name="move rotate", id=5),
2626
TestOption(name="stop_move", id=6),
27-
TestOption(name="switch_gait", id=7),
28-
TestOption(name="switch_gait", id=8),
27+
TestOption(name="hand stand", id=7),
2928
TestOption(name="balanced stand", id=9),
30-
TestOption(name="recovery", id=10),
3129
TestOption(name="recovery", id=10),
3230
TestOption(name="left flip", id=11),
3331
TestOption(name="back flip", id=12),
3432
TestOption(name="free walk", id=13),
3533
TestOption(name="free bound", id=14),
3634
TestOption(name="free avoid", id=15),
37-
TestOption(name="walk stair", id=16),
3835
TestOption(name="walk upright", id=17),
3936
TestOption(name="cross step", id=18),
4037
TestOption(name="free jump", id=19)
@@ -71,14 +68,13 @@ def terminal_handle(self):
7168

7269
if __name__ == "__main__":
7370

74-
if len(sys.argv) < 2:
75-
print(f"Usage: python3 {sys.argv[0]} networkInterface")
76-
sys.exit(-1)
7771

7872
print("WARNING: Please ensure there are no obstacles around the robot while running this example.")
7973
input("Press Enter to continue...")
80-
81-
ChannelFactoryInitialize(0, sys.argv[1])
74+
if len(sys.argv)>1:
75+
ChannelFactoryInitialize(0, sys.argv[1])
76+
else:
77+
ChannelFactoryInitialize(0)
8278

8379
test_option = TestOption(name=None, id=None)
8480
user_interface = UserInterface()
@@ -100,17 +96,18 @@ def terminal_handle(self):
10096
elif test_option.id == 2:
10197
sport_client.StandDown()
10298
elif test_option.id == 3:
103-
sport_client.Move(0.3,0,0)
99+
ret = sport_client.Move(0.3,0,0)
100+
print("ret: ",ret)
104101
elif test_option.id == 4:
105102
sport_client.Move(0,0.3,0)
106103
elif test_option.id == 5:
107104
sport_client.Move(0,0,0.5)
108105
elif test_option.id == 6:
109106
sport_client.StopMove()
110107
elif test_option.id == 7:
111-
sport_client.SwitchGait(0)
112-
elif test_option.id == 8:
113-
sport_client.SwitchGait(1)
108+
sport_client.HandStand(True)
109+
time.sleep(4)
110+
sport_client.HandStand(False)
114111
elif test_option.id == 9:
115112
sport_client.BalanceStand()
116113
elif test_option.id == 10:
@@ -122,13 +119,7 @@ def terminal_handle(self):
122119
ret = sport_client.BackFlip()
123120
print("ret: ",ret)
124121
elif test_option.id == 13:
125-
ret = sport_client.FreeWalk(True)
126-
print("ret: ",ret)
127-
elif test_option.id == 14:
128-
ret = sport_client.FreeBound(True)
129-
print("ret: ",ret)
130-
time.sleep(2)
131-
ret = sport_client.FreeBound(False)
122+
ret = sport_client.FreeWalk()
132123
print("ret: ",ret)
133124
elif test_option.id == 14:
134125
ret = sport_client.FreeBound(True)
@@ -142,12 +133,6 @@ def terminal_handle(self):
142133
time.sleep(2)
143134
ret = sport_client.FreeAvoid(False)
144135
print("ret: ",ret)
145-
elif test_option.id == 16:
146-
ret = sport_client.WalkStair(True)
147-
print("ret: ",ret)
148-
time.sleep(10)
149-
ret = sport_client.WalkStair(False)
150-
print("ret: ",ret)
151136
elif test_option.id == 17:
152137
ret = sport_client.WalkUpright(True)
153138
print("ret: ",ret)

‎unitree_sdk2py/go2/sport/sport_api.py‎

Lines changed: 16 additions & 27 deletions
Original file line numberDiff line numberDiff line change
@@ -23,46 +23,35 @@
2323
SPORT_API_ID_MOVE = 1008
2424
SPORT_API_ID_SIT = 1009
2525
SPORT_API_ID_RISESIT = 1010
26-
SPORT_API_ID_SWITCHGAIT = 1011
27-
SPORT_API_ID_TRIGGER = 1012
28-
SPORT_API_ID_BODYHEIGHT = 1013
29-
SPORT_API_ID_FOOTRAISEHEIGHT = 1014
3026
SPORT_API_ID_SPEEDLEVEL = 1015
3127
SPORT_API_ID_HELLO = 1016
3228
SPORT_API_ID_STRETCH = 1017
33-
SPORT_API_ID_TRAJECTORYFOLLOW = 1018
34-
SPORT_API_ID_CONTINUOUSGAIT = 1019
3529
SPORT_API_ID_CONTENT = 1020
36-
SPORT_API_ID_WALLOW = 1021
3730
SPORT_API_ID_DANCE1 = 1022
3831
SPORT_API_ID_DANCE2 = 1023
39-
SPORT_API_ID_GETBODYHEIGHT = 1024
40-
SPORT_API_ID_GETFOOTRAISEHEIGHT = 1025
41-
SPORT_API_ID_GETSPEEDLEVEL = 1026
4232
SPORT_API_ID_SWITCHJOYSTICK = 1027
4333
SPORT_API_ID_POSE = 1028
4434
SPORT_API_ID_SCRAPE = 1029
4535
SPORT_API_ID_FRONTFLIP = 1030
4636
SPORT_API_ID_FRONTJUMP = 1031
4737
SPORT_API_ID_FRONTPOUNCE = 1032
48-
SPORT_API_ID_WIGGLEHIPS = 1033
49-
SPORT_API_ID_GETSTATE = 1034
50-
SPORT_API_ID_ECONOMICGAIT = 1035
5138
SPORT_API_ID_HEART = 1036
52-
ROBOT_SPORT_API_ID_DANCE3 = 1037
53-
ROBOT_SPORT_API_ID_DANCE4 = 1038
54-
ROBOT_SPORT_API_ID_HOPSPINLEFT = 1039
55-
ROBOT_SPORT_API_ID_HOPSPINRIGHT = 1040
56-
57-
ROBOT_SPORT_API_ID_LEFTFLIP = 1042
58-
ROBOT_SPORT_API_ID_BACKFLIP = 1044
59-
ROBOT_SPORT_API_ID_FREEWALK = 1045
60-
ROBOT_SPORT_API_ID_FREEBOUND = 1046
61-
ROBOT_SPORT_API_ID_FREEJUMP = 1047
62-
ROBOT_SPORT_API_ID_FREEAVOID = 1048
63-
ROBOT_SPORT_API_ID_WALKSTAIR = 1049
64-
ROBOT_SPORT_API_ID_WALKUPRIGHT = 1050
65-
ROBOT_SPORT_API_ID_CROSSSTEP = 1051
39+
SPORT_API_ID_STATICWALK = 1061
40+
SPORT_API_ID_TROTRUN = 1062
41+
SPORT_API_ID_ECONOMICGAIT = 1063
42+
SPORT_API_ID_LEFTFLIP = 2041
43+
SPORT_API_ID_BACKFLIP = 2043
44+
SPORT_API_ID_HANDSTAND = 2044
45+
SPORT_API_ID_FREEWALK = 2045
46+
SPORT_API_ID_FREEBOUND = 2046
47+
SPORT_API_ID_FREEJUMP = 2047
48+
SPORT_API_ID_FREEAVOID = 2048
49+
SPORT_API_ID_CLASSICWALK = 2049
50+
SPORT_API_ID_WALKUPRIGHT = 2050
51+
SPORT_API_ID_CROSSSTEP = 2051
52+
SPORT_API_ID_AUTORECOVERY_SET = 2054
53+
SPORT_API_ID_AUTORECOVERY_GET = 2055
54+
SPORT_API_ID_SWITCHAVOIDMODE = 2058
6655

6756
"""
6857
" error code

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