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Add stand, walk motion, run motion and speed mode control for g1 client #86

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Add stand, walk motion, run motion and speed mode control for g1 client #86

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14ee3df
add stand, walk motion, run motion and speed mode control for g1 client
QuartZ-Z Jul 4, 2025
656de0e
Merge branch 'unitreerobotics:master' into master
QuartZ-Z Aug 25, 2025
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1 change: 1 addition & 0 deletions unitree_sdk2py/g1/loco/g1_loco_api.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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20 changes: 20 additions & 0 deletions unitree_sdk2py/g1/loco/g1_loco_client.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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)

Expand All @@ -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.)
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