add new APIs for go2 sport client and update go2_sport_client example

Author: xiaoliangstd

example/go2/high_level/go2_sport_client.py

@@ -27,7 +27,17 @@ class TestOption:
     TestOption(name="switch_gait", id=7),    
     TestOption(name="switch_gait", id=8),
     TestOption(name="balanced stand", id=9),     
-    TestOption(name="recovery", id=10)       
+    TestOption(name="recovery", id=10),
+    TestOption(name="recovery", id=10),       
+    TestOption(name="left flip", id=11),      
+    TestOption(name="back flip", id=12),
+    TestOption(name="free walk", id=13),  
+    TestOption(name="free bound", id=14), 
+    TestOption(name="free avoid", id=15),  
+    TestOption(name="walk stair", id=16), 
+    TestOption(name="walk upright", id=17),
+    TestOption(name="cross step", id=18),
+    TestOption(name="free jump", id=19)       
 ]
 
 class UserInterface:
@@ -105,5 +115,56 @@ def terminal_handle(self):
             sport_client.BalanceStand()
         elif test_option.id == 10:
             sport_client.RecoveryStand()
+        elif test_option.id == 11:
+            ret = sport_client.LeftFlip()
+            print("ret: ",ret)
+        elif test_option.id == 12:
+            ret = sport_client.BackFlip()
+            print("ret: ",ret)
+        elif test_option.id == 13:
+            ret = sport_client.FreeWalk(True)
+            print("ret: ",ret)
+        elif test_option.id == 14:
+            ret = sport_client.FreeBound(True)
+            print("ret: ",ret)
+            time.sleep(2)
+            ret = sport_client.FreeBound(False)
+            print("ret: ",ret)
+        elif test_option.id == 14:
+            ret = sport_client.FreeBound(True)
+            print("ret: ",ret)
+            time.sleep(2)
+            ret = sport_client.FreeBound(False)
+            print("ret: ",ret)
+        elif test_option.id == 15:
+            ret = sport_client.FreeAvoid(True)
+            print("ret: ",ret)
+            time.sleep(2)
+            ret = sport_client.FreeAvoid(False)
+            print("ret: ",ret)
+        elif test_option.id == 16:
+            ret = sport_client.WalkStair(True)
+            print("ret: ",ret)
+            time.sleep(10)
+            ret = sport_client.WalkStair(False)
+            print("ret: ",ret)
+        elif test_option.id == 17:
+            ret = sport_client.WalkUpright(True)
+            print("ret: ",ret)
+            time.sleep(4)
+            ret = sport_client.WalkUpright(False)
+            print("ret: ",ret)
+        elif test_option.id == 18:
+            ret = sport_client.CrossStep(True)
+            print("ret: ",ret)
+            time.sleep(4)
+            ret = sport_client.CrossStep(False)
+            print("ret: ",ret)
+        elif test_option.id == 19:
+            ret = sport_client.FreeJump(True)
+            print("ret: ",ret)
+            time.sleep(4)
+            ret = sport_client.FreeJump(False)
+            print("ret: ",ret)
 
         time.sleep(1)

unitree_sdk2py/go2/sport/sport_api.py

@@ -49,7 +49,20 @@
 SPORT_API_ID_GETSTATE = 1034
 SPORT_API_ID_ECONOMICGAIT = 1035
 SPORT_API_ID_HEART = 1036
+ROBOT_SPORT_API_ID_DANCE3             = 1037
+ROBOT_SPORT_API_ID_DANCE4             = 1038
+ROBOT_SPORT_API_ID_HOPSPINLEFT        = 1039
+ROBOT_SPORT_API_ID_HOPSPINRIGHT       = 1040
 
+ROBOT_SPORT_API_ID_LEFTFLIP           = 1042
+ROBOT_SPORT_API_ID_BACKFLIP           = 1044
+ROBOT_SPORT_API_ID_FREEWALK           = 1045
+ROBOT_SPORT_API_ID_FREEBOUND          = 1046
+ROBOT_SPORT_API_ID_FREEJUMP           = 1047
+ROBOT_SPORT_API_ID_FREEAVOID          = 1048
+ROBOT_SPORT_API_ID_WALKSTAIR          = 1049
+ROBOT_SPORT_API_ID_WALKUPRIGHT        = 1050
+ROBOT_SPORT_API_ID_CROSSSTEP          = 1051
 
 """
 " error code

unitree_sdk2py/go2/sport/sport_client.py

@@ -73,6 +73,16 @@ def Init(self):
         self._RegistApi(SPORT_API_ID_ECONOMICGAIT, 0)
         self._RegistApi(SPORT_API_ID_HEART, 0)
 
+        self._RegistApi(ROBOT_SPORT_API_ID_LEFTFLIP, 0)
+        self._RegistApi(ROBOT_SPORT_API_ID_BACKFLIP, 0)
+        self._RegistApi(ROBOT_SPORT_API_ID_FREEWALK, 0)
+        self._RegistApi(ROBOT_SPORT_API_ID_FREEBOUND, 0)
+        self._RegistApi(ROBOT_SPORT_API_ID_FREEJUMP, 0)
+        self._RegistApi(ROBOT_SPORT_API_ID_FREEAVOID, 0)
+        self._RegistApi(ROBOT_SPORT_API_ID_WALKSTAIR, 0)
+        self._RegistApi(ROBOT_SPORT_API_ID_WALKUPRIGHT, 0)
+        self._RegistApi(ROBOT_SPORT_API_ID_CROSSSTEP, 0)
+
     # 1001
     def Damp(self):
         p = {}
@@ -361,4 +371,76 @@ def Heart(self):
         p = {}
         parameter = json.dumps(p)
         code, data = self._Call(SPORT_API_ID_HEART, parameter)
+        return code
+    
+    # 1042
+    def LeftFlip(self):
+        p = {}
+        p["data"] = True
+        parameter = json.dumps(p)
+        code, data = self._Call(ROBOT_SPORT_API_ID_LEFTFLIP, parameter)
+        return code
+
+    # 1044
+    def BackFlip(self):
+        p = {}
+        p["data"] = True
+        parameter = json.dumps(p)
+        code, data = self._Call(ROBOT_SPORT_API_ID_BACKFLIP, parameter)
+        return code
+
+    # 1045
+    def FreeWalk(self, flag: bool):
+        p = {}
+        p["data"] = True
+        parameter = json.dumps(p)
+        code, data = self._Call(ROBOT_SPORT_API_ID_FREEWALK, parameter)
+        return code
+
+    # 1046
+    def FreeBound(self, flag: bool):
+        p = {}
+        p["data"] = flag
+        parameter = json.dumps(p)
+        code, data = self._Call(ROBOT_SPORT_API_ID_FREEBOUND, parameter)
+        return code
+    
+    # 1047
+    def FreeJump(self, flag: bool):
+        p = {}
+        p["data"] = flag
+        parameter = json.dumps(p)
+        code, data = self._Call(ROBOT_SPORT_API_ID_FREEJUMP, parameter)
+        return code
+
+    # 1048
+    def FreeAvoid(self, flag: bool):
+        p = {}
+        p["data"] = flag
+        parameter = json.dumps(p)
+        code, data = self._Call(ROBOT_SPORT_API_ID_FREEAVOID, parameter)
+        return code
+
+    # 1049
+    def WalkStair(self, flag: bool):
+        p = {}
+        p["data"] = flag
+        parameter = json.dumps(p)
+        code, data = self._Call(ROBOT_SPORT_API_ID_WALKSTAIR, parameter)
+        return code
+    
+    # 1050
+    def WalkUpright(self, flag: bool):
+        p = {}
+        p["data"] = flag
+        parameter = json.dumps(p)
+        code, data = self._Call(ROBOT_SPORT_API_ID_WALKUPRIGHT, parameter)
+        return code
+
+    # 1051
+    def CrossStep(self, flag: bool):  
+        p = {}
+        p["data"] = flag
+        parameter = json.dumps(p)
+        code, data = self._Call(ROBOT_SPORT_API_ID_CROSSSTEP, parameter)
         return code