add b2

Author: Bin-Ro

unitree_sdk2py/__init__.py

@@ -1,9 +1,10 @@
-from . import idl, utils, core, rpc, go2
+from . import idl, utils, core, rpc, go2, b2
 
 __all__ = [
     "idl"
     "utils"
     "core",
     "rpc",
     "go2",
+    "b2",
 ]

unitree_sdk2py/b2/robot_state/robot_state_api.py

@@ -0,0 +1,25 @@
+"""
+" service name
+"""
+ROBOT_STATE_SERVICE_NAME = "robot_state"
+
+
+"""
+" service api version
+"""
+ROBOT_STATE_API_VERSION = "1.0.0.1"
+
+
+"""
+" api id
+"""
+ROBOT_STATE_API_ID_SERVICE_SWITCH = 1001
+ROBOT_STATE_API_ID_REPORT_FREQ = 1002
+ROBOT_STATE_API_ID_SERVICE_LIST = 1003
+
+
+"""
+" error code
+"""
+ROBOT_STATE_ERR_SERVICE_SWITCH = 5201
+ROBOT_STATE_ERR_SERVICE_PROTECTED = 5202

unitree_sdk2py/b2/robot_state/robot_state_client.py

@@ -0,0 +1,84 @@
+import json
+
+from ...rpc.client import Client
+from ...rpc.client_internal import *
+from .robot_state_api import *
+
+
+"""
+" class ServiceState
+"""
+class ServiceState:
+    def __init__(self, name: str = None, status: int = None, protect: bool = None):
+        self.name = name
+        self.status = status
+        self.protect = protect
+
+"""
+" class RobotStateClient
+"""
+class RobotStateClient(Client):
+    def __init__(self):
+        super().__init__(ROBOT_STATE_SERVICE_NAME, False)
+
+    def Init(self):
+        # set api version
+        self._SetApiVerson(ROBOT_STATE_API_VERSION)
+        # regist api
+        self._RegistApi(ROBOT_STATE_API_ID_SERVICE_SWITCH, 0)
+        self._RegistApi(ROBOT_STATE_API_ID_REPORT_FREQ, 0)
+        self._RegistApi(ROBOT_STATE_API_ID_SERVICE_LIST, 0)
+
+    def ServiceList(self):
+        p = {}
+        parameter = json.dumps(p)
+
+        code, data = self._Call(ROBOT_STATE_API_ID_SERVICE_LIST, parameter)
+
+        if code != 0:
+            return code, None
+
+        lst = []
+
+        d = json.loads(data)
+        for t in d:
+            s = ServiceState()
+            s.name = t["name"]
+            s.status = t["status"]
+            s.protect = t["protect"]
+            lst.append(s)
+            
+        return code, lst
+            
+
+    def ServiceSwitch(self, name: str, switch: bool):
+        p = {}
+        p["name"] = name
+        p["switch"] = int(switch)
+        parameter = json.dumps(p)
+        
+        code, data = self._Call(ROBOT_STATE_API_ID_SERVICE_SWITCH, parameter)
+        
+        if code != 0:
+            return code
+      
+        d = json.loads(data)
+
+        status = d["status"]
+    
+        if status == 5:
+            return ROBOT_STATE_ERR_SERVICE_PROTECTED
+
+        if status != 0 and status != 1:
+            return ROBOT_STATE_ERR_SERVICE_SWITCH
+        
+        return code
+
+    def SetReportFreq(self, interval: int, duration: int):
+        p = {}
+        p["interval"] = interval
+        p["duration"] = duration
+        parameter = json.dumps(p)
+        
+        code, data = self._Call(ROBOT_STATE_API_ID_REPORT_FREQ, p)
+        return code

unitree_sdk2py/b2/sport/sport_api.py

@@ -0,0 +1,58 @@
+"""
+" service name
+"""
+SPORT_SERVICE_NAME = "sport"
+
+
+"""
+" service api version
+"""
+SPORT_API_VERSION = "1.0.0.1"
+
+
+"""
+" api id
+"""
+SPORT_API_ID_DAMP              = 1001;
+SPORT_API_ID_BALANCESTAND      = 1002;
+SPORT_API_ID_STOPMOVE          = 1003;
+SPORT_API_ID_STANDUP           = 1004;
+SPORT_API_ID_STANDDOWN         = 1005;
+SPORT_API_ID_RECOVERYSTAND     = 1006;
+SPORT_API_ID_EULER             = 1007;
+SPORT_API_ID_MOVE              = 1008;
+SPORT_API_ID_SIT               = 1009;
+SPORT_API_ID_RISESIT           = 1010;
+SPORT_API_ID_SWITCHGAIT        = 1011;
+SPORT_API_ID_TRIGGER           = 1012;
+SPORT_API_ID_BODYHEIGHT        = 1013;
+SPORT_API_ID_FOOTRAISEHEIGHT   = 1014;
+SPORT_API_ID_SPEEDLEVEL        = 1015;
+SPORT_API_ID_HELLO             = 1016;
+SPORT_API_ID_STRETCH           = 1017;
+SPORT_API_ID_TRAJECTORYFOLLOW  = 1018;
+SPORT_API_ID_CONTINUOUSGAIT    = 1019;
+SPORT_API_ID_CONTENT           = 1020;
+SPORT_API_ID_WALLOW            = 1021;
+SPORT_API_ID_DANCE1            = 1022;
+SPORT_API_ID_DANCE2            = 1023;
+SPORT_API_ID_GETBODYHEIGHT        = 1024;
+SPORT_API_ID_GETFOOTRAISEHEIGHT   = 1025;
+SPORT_API_ID_GETSPEEDLEVEL        = 1026;
+SPORT_API_ID_SWITCHJOYSTICK       = 1027;
+SPORT_API_ID_POSE                 = 1028;
+SPORT_API_ID_FRONTJUMP            = 1031;
+SPORT_API_ID_ECONOMICGAIT         = 1035;
+SPORT_API_ID_MOVETOPOS            = 1036;
+SPORT_API_ID_SWITCHEULERMODE    = 1037;
+SPORT_API_ID_SWITCHMOVEMODE     = 1038;
+
+
+"""
+" error code
+"""
+# client side
+SPORT_ERR_CLIENT_POINT_PATH = 4101
+# server side
+SPORT_ERR_SERVER_OVERTIME = 4201
+SPORT_ERR_SERVER_NOT_INIT = 4202