Upstream merge 5ae449

example/go2/high_level/go2_sport_client.py

@@ -24,17 +24,14 @@ class TestOption:
     TestOption(name="move lateral", id=4),    
     TestOption(name="move rotate", id=5),  
     TestOption(name="stop_move", id=6),  
-    TestOption(name="switch_gait", id=7),    
-    TestOption(name="switch_gait", id=8),
+    TestOption(name="hand stand", id=7),
     TestOption(name="balanced stand", id=9),     
-    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)       
@@ -71,14 +68,13 @@ def terminal_handle(self):
 
 if __name__ == "__main__":
 
-    if len(sys.argv) < 2:
-        print(f"Usage: python3 {sys.argv[0]} networkInterface")
-        sys.exit(-1)
 
     print("WARNING: Please ensure there are no obstacles around the robot while running this example.")
     input("Press Enter to continue...")
-
-    ChannelFactoryInitialize(0, sys.argv[1])
+    if len(sys.argv)>1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
 
     test_option = TestOption(name=None, id=None) 
     user_interface = UserInterface()
@@ -100,17 +96,18 @@ def terminal_handle(self):
         elif test_option.id == 2:
             sport_client.StandDown()
         elif test_option.id == 3:
-            sport_client.Move(0.3,0,0)
+            ret = sport_client.Move(0.3,0,0)
+            print("ret: ",ret)
         elif test_option.id == 4:
             sport_client.Move(0,0.3,0)
         elif test_option.id == 5:
             sport_client.Move(0,0,0.5)
         elif test_option.id == 6:
             sport_client.StopMove()
         elif test_option.id == 7:
-            sport_client.SwitchGait(0)
-        elif test_option.id == 8:
-            sport_client.SwitchGait(1)
+            sport_client.HandStand(True)
+            time.sleep(4)
+            sport_client.HandStand(False)
         elif test_option.id == 9:
             sport_client.BalanceStand()
         elif test_option.id == 10:
@@ -122,13 +119,7 @@ def terminal_handle(self):
             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)
+            ret = sport_client.FreeWalk()
             print("ret: ",ret)
         elif test_option.id == 14:
             ret = sport_client.FreeBound(True)
@@ -142,12 +133,6 @@ def terminal_handle(self):
             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)

unitree_sdk2py/go2/sport/sport_api.py

@@ -23,46 +23,35 @@
 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_SCRAPE = 1029
 SPORT_API_ID_FRONTFLIP = 1030
 SPORT_API_ID_FRONTJUMP = 1031
 SPORT_API_ID_FRONTPOUNCE = 1032
-SPORT_API_ID_WIGGLEHIPS = 1033
-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
+SPORT_API_ID_STATICWALK = 1061
+SPORT_API_ID_TROTRUN = 1062
+SPORT_API_ID_ECONOMICGAIT = 1063
+SPORT_API_ID_LEFTFLIP = 2041
+SPORT_API_ID_BACKFLIP = 2043
+SPORT_API_ID_HANDSTAND = 2044
+SPORT_API_ID_FREEWALK = 2045
+SPORT_API_ID_FREEBOUND = 2046
+SPORT_API_ID_FREEJUMP = 2047
+SPORT_API_ID_FREEAVOID = 2048
+SPORT_API_ID_CLASSICWALK = 2049
+SPORT_API_ID_WALKUPRIGHT = 2050
+SPORT_API_ID_CROSSSTEP = 2051
+SPORT_API_ID_AUTORECOVERY_SET = 2054
+SPORT_API_ID_AUTORECOVERY_GET = 2055
+SPORT_API_ID_SWITCHAVOIDMODE = 2058
 
 """
 " error code