loco_client method mixing with low level commands

[thomasschichl]

Dear community,

I have a question regarding the loco_client API.

First of all how can I use the methods to start the robot like using the app:

I was trying
sport_client = LocoClient()
sport_client.SetTimeout(10)
sport_client.Init()

sport_client.Damp() - damping Mode on the Android APP
time.Sleep(1)
sport_client.SetFsmId(4) - Locked Stand on the Android APP
time.Sleep(7)
sport_client.Start - This will set FsmId 200, which I assume means Ready to Start
time.Sleep(1)

When I run this sequence, the robot gets into Locked Stand and is ready to move. I can extend the sequence using wave_hand, move, high Stand, lowStand, etc. and it works just fine

However, there are some issues

First of all when I use the Android app and I start the robot up by pressing the damp symbol, the locked stand symbol and the balanced stand symbol, the robot stands way taller what makes him way more stable . If I use the unitree_sdkpy methods, the robot has a lower stand because the knee joints are different.
Furthermore, when I start the robot with the app, methods like highstand or lowstand do not work using the unitree_sdk2py (when I run a script)

So actually the questions are:

• What does the sequence look like for initializing the robot when I use a python script with the high_level commands.
• Why is the robot behaving different, when I use the high_level commands in the sdk compared tot the android app
• Why are some high level methods from the sdk not working when I start the robot according to the sequence I mentioned?
• Why are some high level methods not working when I start the robot with the app

Any ideas?

And can you please provide a list of all fsmids- I mean the ID 200 which is called in the start is not mentioned in the manual at all...
And Balanced mode is not working either using the unitree_sdk2py- when calling damp(), setfsmid(4), start() or without start() and then balancedmode(0) or balancedmode (1)

kind regards,
Thomas