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xiaoliangstdxiaoliangstd
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add G1ArmActionClient and corresponding examples
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‎example/g1/high_level/g1_arm_action_example.py‎

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import time
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import sys
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from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
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from unitree_sdk2py.g1.arm.g1_arm_action_client import G1ArmActionClient
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from unitree_sdk2py.g1.arm.g1_arm_action_client import action_map
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from dataclasses import dataclass
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@dataclass
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class TestOption:
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name: str
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id: int
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option_list = [
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TestOption(name="release arm", id=0),
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TestOption(name="shake hand", id=1),
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TestOption(name="high five", id=2),
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TestOption(name="hug", id=3),
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TestOption(name="high wave", id=4),
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TestOption(name="clap", id=5),
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TestOption(name="face wave", id=6),
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TestOption(name="left kiss", id=7),
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TestOption(name="heart", id=8),
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TestOption(name="right heart", id=9),
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TestOption(name="hands up", id=10),
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TestOption(name="x-ray", id=11),
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TestOption(name="right hand up", id=12),
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TestOption(name="reject", id=13),
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TestOption(name="right kiss", id=14),
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TestOption(name="two-hand kiss", id=15),
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]
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class UserInterface:
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def __init__(self):
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self.test_option_ = None
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def convert_to_int(self, input_str):
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try:
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return int(input_str)
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except ValueError:
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return None
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def terminal_handle(self):
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input_str = input("Enter id or name: \n")
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if input_str == "list":
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self.test_option_.name = None
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self.test_option_.id = None
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for option in option_list:
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print(f"{option.name}, id: {option.id}")
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return
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for option in option_list:
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if input_str == option.name or self.convert_to_int(input_str) == option.id:
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self.test_option_.name = option.name
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self.test_option_.id = option.id
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print(f"Test: {self.test_option_.name}, test_id: {self.test_option_.id}")
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return
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print("No matching test option found.")
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if __name__ == "__main__":
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if len(sys.argv) < 2:
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print(f"Usage: python3 {sys.argv[0]} networkInterface")
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sys.exit(-1)
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print("WARNING: Please ensure there are no obstacles around the robot while running this example.")
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input("Press Enter to continue...")
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ChannelFactoryInitialize(0, sys.argv[1])
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test_option = TestOption(name=None, id=None)
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user_interface = UserInterface()
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user_interface.test_option_ = test_option
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armAction_client = G1ArmActionClient()
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armAction_client.SetTimeout(10.0)
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armAction_client.Init()
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# actionList = armAction_client.GetActionList()
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# print("actionList\n",actionList)
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print("Input \"list\" to list all test option ...")
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while True:
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user_interface.terminal_handle()
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print(f"Updated Test Option: Name = {test_option.name}, ID = {test_option.id}")
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if test_option.id == 0:
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armAction_client.ExecuteAction(action_map.get("release arm"))
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elif test_option.id == 1:
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armAction_client.ExecuteAction(action_map.get("shake hand"))
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time.sleep(2)
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armAction_client.ExecuteAction(action_map.get("release arm"))
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elif test_option.id == 2:
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armAction_client.ExecuteAction(action_map.get("high five"))
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time.sleep(2)
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armAction_client.ExecuteAction(action_map.get("release arm"))
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elif test_option.id == 3:
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armAction_client.ExecuteAction(action_map.get("hug"))
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time.sleep(2)
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armAction_client.ExecuteAction(action_map.get("release arm"))
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elif test_option.id == 4:
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armAction_client.ExecuteAction(action_map.get("high wave"))
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elif test_option.id == 5:
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armAction_client.ExecuteAction(action_map.get("clap"))
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elif test_option.id == 6:
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armAction_client.ExecuteAction(action_map.get("face wave"))
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elif test_option.id == 7:
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armAction_client.ExecuteAction(action_map.get("left kiss"))
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elif test_option.id == 8:
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armAction_client.ExecuteAction(action_map.get("heart"))
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time.sleep(2)
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armAction_client.ExecuteAction(action_map.get("release arm"))
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elif test_option.id == 9:
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armAction_client.ExecuteAction(action_map.get("right heart"))
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time.sleep(2)
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armAction_client.ExecuteAction(action_map.get("release arm"))
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elif test_option.id == 10:
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armAction_client.ExecuteAction(action_map.get("hands up"))
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time.sleep(2)
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armAction_client.ExecuteAction(action_map.get("release arm"))
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elif test_option.id == 11:
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armAction_client.ExecuteAction(action_map.get("x-ray"))
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time.sleep(2)
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armAction_client.ExecuteAction(action_map.get("release arm"))
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elif test_option.id == 12:
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armAction_client.ExecuteAction(action_map.get("right hand up"))
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time.sleep(2)
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armAction_client.ExecuteAction(action_map.get("release arm"))
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elif test_option.id == 13:
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armAction_client.ExecuteAction(action_map.get("reject"))
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time.sleep(2)
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armAction_client.ExecuteAction(action_map.get("release arm"))
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elif test_option.id == 14:
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armAction_client.ExecuteAction(action_map.get("right kiss"))
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elif test_option.id == 15:
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armAction_client.ExecuteAction(action_map.get("two-hand kiss"))
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time.sleep(1)

‎unitree_sdk2py/g1/arm/g1_arm_action_api.py‎

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"""
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" service name
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"""
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ARM_ACTION_SERVICE_NAME = "arm"
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"""
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" service api version
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"""
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ARM_ACTION_API_VERSION = "1.0.0.14"
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"""
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" api id
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"""
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ROBOT_API_ID_ARM_ACTION_EXECUTE_ACTION = 7106
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ROBOT_API_ID_ARM_ACTION_GET_ACTION_LIST = 7107
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"""
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" error code
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"""

‎unitree_sdk2py/g1/arm/g1_arm_action_client.py‎

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import json
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from ...rpc.client import Client
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from .g1_arm_action_api import *
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action_map = {
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"release arm": 99,
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"two-hand kiss": 11,
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"left kiss": 12,
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"right kiss": 13,
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"hands up": 15,
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"clap": 17,
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"high five": 18,
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"hug": 19,
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"heart": 20,
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"right heart": 21,
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"reject": 22,
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"right hand up": 23,
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"x-ray": 24,
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"face wave": 25,
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"high wave": 26,
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"shake hand": 27,
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}
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"""
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" class SportClient
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"""
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class G1ArmActionClient(Client):
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def __init__(self):
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super().__init__(ARM_ACTION_SERVICE_NAME, False)
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def Init(self):
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# set api version
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self._SetApiVerson(ARM_ACTION_API_VERSION)
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# regist api
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self._RegistApi(ROBOT_API_ID_ARM_ACTION_EXECUTE_ACTION, 0)
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self._RegistApi(ROBOT_API_ID_ARM_ACTION_GET_ACTION_LIST, 0)
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## API Call ##
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def ExecuteAction(self, action_id: int):
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p = {}
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p["data"] = action_id
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parameter = json.dumps(p)
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code, data = self._Call(ROBOT_API_ID_ARM_ACTION_EXECUTE_ACTION, parameter)
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return code
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def GetActionList(self):
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p = {}
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parameter = json.dumps(p)
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code, data = self._Call(ROBOT_API_ID_ARM_ACTION_GET_ACTION_LIST, parameter)
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if code == 0:
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return code, json.loads(data)
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else:
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return code, None

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