From 14ee3df5ef4b856752d68bba7bc602b8c3623608 Mon Sep 17 00:00:00 2001
From: quzz21 <quzz21@mails.tsinghua.edu.cn>
Date: Fri, 4 Jul 2025 23:01:30 +0800
Subject: [PATCH] add stand, walk motion, run motion and speed mode control for
 g1 client

---
 unitree_sdk2py/g1/loco/g1_loco_api.py    |  1 +
 unitree_sdk2py/g1/loco/g1_loco_client.py | 20 ++++++++++++++++++++
 2 files changed, 21 insertions(+)

diff --git a/unitree_sdk2py/g1/loco/g1_loco_api.py b/unitree_sdk2py/g1/loco/g1_loco_api.py
index 2fdca7e..dfacdab 100644
--- a/unitree_sdk2py/g1/loco/g1_loco_api.py
+++ b/unitree_sdk2py/g1/loco/g1_loco_api.py
@@ -26,6 +26,7 @@
 ROBOT_API_ID_LOCO_SET_STAND_HEIGHT = 7104
 ROBOT_API_ID_LOCO_SET_VELOCITY = 7105
 ROBOT_API_ID_LOCO_SET_ARM_TASK = 7106
+ROBOT_API_ID_LOCO_SET_SPEED_MODE = 7107
 
 """
 " error code
diff --git a/unitree_sdk2py/g1/loco/g1_loco_client.py b/unitree_sdk2py/g1/loco/g1_loco_client.py
index 9d3a632..5de5482 100644
--- a/unitree_sdk2py/g1/loco/g1_loco_client.py
+++ b/unitree_sdk2py/g1/loco/g1_loco_client.py
@@ -71,10 +71,21 @@ def SetTaskId(self, task_id: float):
         parameter = json.dumps(p)
         code, data = self._Call(ROBOT_API_ID_LOCO_SET_ARM_TASK, parameter)
         return code
+    
+    # 7107
+    def SetSpeedMode(self, speed_mode: int):
+        p = {}
+        p["data"] = speed_mode
+        parameter = json.dumps(p)
+        code, data = self._Call(ROBOT_API_ID_LOCO_SET_SPEED_MODE, parameter)
+        return code
 
     def Damp(self):
         self.SetFsmId(1)
     
+    def StandUp(self):
+        self.SetFsmId(4)
+    
     def Start(self):
         self.SetFsmId(200)
 
@@ -92,6 +103,15 @@ def StandUp2Squat(self):
 
     def ZeroTorque(self):
         self.SetFsmId(0)
+    
+    def WalkMotion(self):
+        self.SetFsmId(500)
+    
+    def WalkMotion_3Dof_waist(self):
+        self.SetFsmId(501)
+    
+    def Run(self):
+        self.SetFsmId(800)
 
     def StopMove(self):
         self.SetVelocity(0., 0., 0.)