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Pull-Request: Bring Python SDK (Go2 Edu) in line with Go2 V 1.1.6 high-level interface #76

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Pull-Request: Bring Python SDK (Go2 Edu) in line with Go2 V 1.1.6 high-level interface #76

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276 changes: 142 additions & 134 deletions example/go2/high_level/go2_sport_client.py
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Original file line number Diff line number Diff line change
@@ -1,170 +1,178 @@
#!/usr/bin/env python3
"""
Interactive high-level control demo for Unitree Go2 Edu
======================================================

* Connects via DDS to the robot (`eth0`, `enp2s0`, …).
* Lets you pick a command from a dynamic list and executes it via SportClient.
* Covers **all** V1.1.6 high-level / AI-switcher functions that are exposed in the
current C++ header.
(`WalkStair` was removed in V1.1.6 → no longer listed or called.)

Run:

python3 go2_sport_client.py <networkInterface>

Example:

python3 go2_sport_client.py eth0
"""

import time
import sys
from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
from unitree_sdk2py.idl.default import unitree_go_msg_dds__SportModeState_
from unitree_sdk2py.idl.unitree_go.msg.dds_ import SportModeState_
from unitree_sdk2py.go2.sport.sport_client import (
SportClient,
PathPoint,
SPORT_PATH_POINT_SIZE,
)
import math
from dataclasses import dataclass

from unitree_sdk2py.core.channel import ChannelFactoryInitialize
from unitree_sdk2py.go2.sport.sport_client import SportClient


# --------------------------------------------------------------------------- #
# Option definitions #
# --------------------------------------------------------------------------- #
@dataclass
class TestOption:
name: str
id: int


option_list = [
TestOption(name="damp", id=0),
TestOption(name="stand_up", id=1),
TestOption(name="stand_down", id=2),
TestOption(name="move forward", id=3),
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="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)
# legacy “sport” basic control
TestOption("damp", 0),
TestOption("stand_up", 1),
TestOption("stand_down", 2),
TestOption("move_forward", 3),
TestOption("move_lateral", 4),
TestOption("move_rotate", 5),
TestOption("stop_move", 6),
TestOption("switch_gait_0", 7),
TestOption("switch_gait_1", 8),
TestOption("balanced_stand", 9),
TestOption("recovery", 10),
# legacy flips
TestOption("left_flip", 11),
TestOption("back_flip", 12),
# AI / motion-switcher V2.0
TestOption("free_walk", 13),
TestOption("free_bound", 14),
TestOption("free_avoid", 15),
TestOption("walk_upright", 17),
TestOption("cross_step", 18),
TestOption("free_jump", 19),
TestOption("hand_stand", 20),
TestOption("classic_walk", 21),
TestOption("static_walk", 22),
TestOption("trot_run", 23),
TestOption("auto_recover_on", 24),
TestOption("auto_recover_off", 25),
TestOption("switch_avoid_mode", 26),
]


# --------------------------------------------------------------------------- #
# Simple terminal UI helper #
# --------------------------------------------------------------------------- #
class UserInterface:
def __init__(self):
self.test_option_ = None
def __init__(self, option_holder: TestOption):
self.option_holder = option_holder

def convert_to_int(self, input_str):
def _to_int(self, s):
try:
return int(input_str)
return int(s)
except ValueError:
return None

def terminal_handle(self):
input_str = input("Enter id or name: \n")
def prompt(self):
user_in = input("Enter command (type 'list' to see all commands): ").strip()

if input_str == "list":
self.test_option_.name = None
self.test_option_.id = None
for option in option_list:
print(f"{option.name}, id: {option.id}")
# show list
if user_in == "list":
print("Available commands:")
for opt in option_list:
print(f" {opt.name} (id {opt.id})")
return

for option in option_list:
if input_str == option.name or self.convert_to_int(input_str) == option.id:
self.test_option_.name = option.name
self.test_option_.id = option.id
print(f"Test: {self.test_option_.name}, test_id: {self.test_option_.id}")
# match name or id
for opt in option_list:
if user_in == opt.name or self._to_int(user_in) == opt.id:
self.option_holder.name = opt.name
self.option_holder.id = opt.id
print(f"Selected: {opt.name} (id {opt.id})")
return

print("No matching test option found.")
print("No match. Type 'list' to see available commands.")

if __name__ == "__main__":

# --------------------------------------------------------------------------- #
# Main demo #
# --------------------------------------------------------------------------- #
if __name__ == "__main__":
# network interface must be provided
if len(sys.argv) < 2:
print(f"Usage: python3 {sys.argv[0]} networkInterface")
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.")
print("WARNING: ensure the robot has free space around it.")
input("Press Enter to continue...")

# DDS / RPC initialisation
ChannelFactoryInitialize(0, sys.argv[1])

test_option = TestOption(name=None, id=None)
user_interface = UserInterface()
user_interface.test_option_ = test_option
# prepare option holder + UI
current_opt = TestOption("", -1)
ui = UserInterface(current_opt)

sport_client = SportClient()
sport_client.SetTimeout(10.0)
sport_client.Init()
while True:
# initialise SportClient
sport = SportClient()
sport.SetTimeout(10.0)
sport.Init()

user_interface.terminal_handle()

print(f"Updated Test Option: Name = {test_option.name}, ID = {test_option.id}\n")

if test_option.id == 0:
sport_client.Damp()
elif test_option.id == 1:
sport_client.StandUp()
elif test_option.id == 2:
sport_client.StandDown()
elif test_option.id == 3:
sport_client.Move(0.3,0,0)
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)
elif test_option.id == 9:
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)
# main loop
while True:
ui.prompt()
cmd = current_opt.id

# ---------- legacy sport ----------
if cmd == 0: sport.Damp()
elif cmd == 1: sport.StandUp()
elif cmd == 2: sport.StandDown()
elif cmd == 3: sport.Move(0.3, 0, 0)
elif cmd == 4: sport.Move(0, 0.3, 0)
elif cmd == 5: sport.Move(0, 0, 0.5)
elif cmd == 6: sport.StopMove()
elif cmd == 7: sport.SwitchGait(0)
elif cmd == 8: sport.SwitchGait(1)
elif cmd == 9: sport.BalanceStand()
elif cmd == 10: sport.RecoveryStand()
elif cmd == 11: print("ret:", sport.LeftFlip())
elif cmd == 12: print("ret:", sport.BackFlip())

# ---------- AI / V2.0 switcher ----------
elif cmd == 13: print("ret:", sport.FreeWalk(True))
elif cmd == 14:
print("ret:", sport.FreeBound(True)); time.sleep(2)
print("ret:", sport.FreeBound(False))
elif cmd == 15:
print("ret:", sport.FreeAvoid(True)); time.sleep(2)
print("ret:", sport.FreeAvoid(False))
elif cmd == 17:
print("ret:", sport.WalkUpright(True)); time.sleep(4)
print("ret:", sport.WalkUpright(False))
elif cmd == 18:
print("ret:", sport.CrossStep(True)); time.sleep(4)
print("ret:", sport.CrossStep(False))
elif cmd == 19:
print("ret:", sport.FreeJump(True)); time.sleep(4)
print("ret:", sport.FreeJump(False))
elif cmd == 20:
print("ret:", sport.HandStand(True)); time.sleep(2)
print("ret:", sport.HandStand(False))
elif cmd == 21:
print("ret:", sport.ClassicWalk(True)); time.sleep(2)
print("ret:", sport.ClassicWalk(False))
elif cmd == 22: print("ret:", sport.StaticWalk())
elif cmd == 23: print("ret:", sport.TrotRun())
elif cmd == 24: print("ret:", sport.AutoRecoverSet(True))
elif cmd == 25: print("ret:", sport.AutoRecoverSet(False))
elif cmd == 26: print("ret:", sport.SwitchAvoidMode())

time.sleep(1)
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