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.gitattributes +511 -0
GR00T-WholeBodyControl/external_dependencies/XRoboToolkit-PC-Service-Pybind_X86_and_ARM64/bindings/py_bindings.cpp +546 -0
GR00T-WholeBodyControl/external_dependencies/XRoboToolkit-PC-Service-Pybind_X86_and_ARM64/examples/example.py +47 -0
GR00T-WholeBodyControl/external_dependencies/XRoboToolkit-PC-Service-Pybind_X86_and_ARM64/examples/example_body_tracking.py +86 -0
GR00T-WholeBodyControl/external_dependencies/XRoboToolkit-PC-Service-Pybind_X86_and_ARM64/examples/example_motion_tracker.py +17 -0
GR00T-WholeBodyControl/external_dependencies/XRoboToolkit-PC-Service-Pybind_X86_and_ARM64/examples/run_binding_continuous.py +111 -0
GR00T-WholeBodyControl/external_dependencies/XRoboToolkit-PC-Service-Pybind_X86_and_ARM64/examples/send_json_example.py +29 -0
GR00T-WholeBodyControl/external_dependencies/XRoboToolkit-PC-Service-Pybind_X86_and_ARM64/examples/test_hand_isactive.py +63 -0
GR00T-WholeBodyControl/external_dependencies/XRoboToolkit-PC-Service-Pybind_X86_and_ARM64/include/PXREARobotSDK.h +120 -0
GR00T-WholeBodyControl/external_dependencies/XRoboToolkit-PC-Service-Pybind_X86_and_ARM64/include/aarch64/PXREARobotSDK.h +120 -0
GR00T-WholeBodyControl/external_dependencies/XRoboToolkit-PC-Service-Pybind_X86_and_ARM64/include/aarch64/nlohmann/json.hpp +0 -0
GR00T-WholeBodyControl/external_dependencies/XRoboToolkit-PC-Service-Pybind_X86_and_ARM64/include/aarch64/nlohmann/json_fwd.hpp +176 -0
GR00T-WholeBodyControl/external_dependencies/XRoboToolkit-PC-Service-Pybind_X86_and_ARM64/include/nlohmann/json.hpp +0 -0
GR00T-WholeBodyControl/external_dependencies/XRoboToolkit-PC-Service-Pybind_X86_and_ARM64/include/nlohmann/json_fwd.hpp +176 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/b2/camera/camera_opencv.py +51 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/b2/camera/capture_image.py +51 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/b2/high_level/b2_sport_client.py +105 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/b2/low_level/b2_stand_example.py +175 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/b2/low_level/unitree_legged_const.py +20 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/b2w/camera/camera_opencv.py +51 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/b2w/camera/capture_image.py +51 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/b2w/high_level/b2w_sport_client.py +101 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/b2w/low_level/b2w_stand_example.py +196 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/b2w/low_level/unitree_legged_const.py +24 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/g1/audio/g1_audio_client_example.py +44 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/g1/high_level/g1_arm5_sdk_dds_example.py +192 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/g1/high_level/g1_arm7_sdk_dds_example.py +194 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/g1/high_level/g1_loco_client_example.py +117 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/g1/low_level/g1_low_level_example.py +205 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/g1/low_level/g1_move_hands_example.py +225 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/g1/readme.md +5 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/go2/front_camera/camera_opencv.py +41 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/go2/front_camera/capture_image.py +30 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/go2/high_level/go2_sport_client.py +170 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/go2/high_level/go2_utlidar_switch.py +39 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/go2/low_level/go2_stand_example.py +176 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/go2/low_level/unitree_legged_const.py +20 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/go2w/high_level/go2w_sport_client.py +99 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/go2w/low_level/go2w_stand_example.py +196 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/go2w/low_level/unitree_legged_const.py +24 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/h1/high_level/h1_loco_client_example.py +96 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/h1/low_level/h1_low_level_example.py +167 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/h1/low_level/unitree_legged_const.py +5 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/h1_2/low_level/h1_2_low_level_example.py +201 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/helloworld/publisher.py +28 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/helloworld/subscriber.py +20 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/helloworld/user_data.py +9 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/motionSwitcher/motion_switcher_example.py +36 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/obstacles_avoid/obstacles_avoid_move.py +35 -0
GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/obstacles_avoid/obstacles_avoid_switch.py +94 -0

.gitattributes CHANGED Viewed

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+GR00T-WholeBodyControl/gear_sonic/data/robots/g1/meshes/old/mesh/G1_23DoF/left_rubber_hand.STL filter=lfs diff=lfs merge=lfs -text
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+GR00T-WholeBodyControl/gear_sonic/data/robots/g1/meshes/old/mesh/G1_23DoF/left_hip_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
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+GR00T-WholeBodyControl/gear_sonic/data/robots/g1/meshes/old/mesh/G1_23DoF/left_hip_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+GR00T-WholeBodyControl/gear_sonic/data/robots/g1/meshes/old/mesh/G1_23DoF/left_hand_index_0_link.STL filter=lfs diff=lfs merge=lfs -text
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+GR00T-WholeBodyControl/gear_sonic/data/robots/g1/meshes/old/mesh/G1_23DoF/logo_link.STL filter=lfs diff=lfs merge=lfs -text
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+GR00T-WholeBodyControl/gear_sonic/data/assets/robot_description/meshes/g1/backpack.STL filter=lfs diff=lfs merge=lfs -text
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+GR00T-WholeBodyControl/gear_sonic/data/assets/robot_description/meshes/g1/left_hip_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
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+GR00T-WholeBodyControl/gear_sonic/data/assets/robot_description/meshes/g1/torso_link_23dof_rev_1_0.STL filter=lfs diff=lfs merge=lfs -text
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+GR00T-WholeBodyControl/gear_sonic/data/assets/robot_description/meshes/g1/torso_link.STL filter=lfs diff=lfs merge=lfs -text
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+GR00T-WholeBodyControl/gear_sonic/data/assets/robot_description/meshes/g1/left_shoulder_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
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+GR00T-WholeBodyControl/gear_sonic/data/assets/robot_description/meshes/g1/left_hand_thumb_1_link.STL filter=lfs diff=lfs merge=lfs -text
+GR00T-WholeBodyControl/gear_sonic/data/assets/robot_description/meshes/g1/left_wrist_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+GR00T-WholeBodyControl/gear_sonic/data/assets/robot_description/meshes/g1/pelvis_contour_link.STL filter=lfs diff=lfs merge=lfs -text
+GR00T-WholeBodyControl/gear_sonic/data/assets/robot_description/meshes/g1/right_hand_middle_0_link.STL filter=lfs diff=lfs merge=lfs -text
+GR00T-WholeBodyControl/gear_sonic/data/assets/robot_description/meshes/g1/NVBP.STL filter=lfs diff=lfs merge=lfs -text

GR00T-WholeBodyControl/external_dependencies/XRoboToolkit-PC-Service-Pybind_X86_and_ARM64/bindings/py_bindings.cpp ADDED Viewed

	@@ -0,0 +1,546 @@

+#include <pybind11/pybind11.h>
+#include <pybind11/chrono.h>
+#include <pybind11/stl.h>
+#include <thread>
+#include <iostream>
+#include <mutex>
+#include <sstream>
+#include <array>
+#include <nlohmann/json.hpp>
+#include "PXREARobotSDK.h"
+using json = nlohmann::json;
+std::array<double, 7> LeftControllerPose;
+std::array<double, 7> RightControllerPose;
+std::array<double, 7> HeadsetPose;
+std::array<std::array<double, 7>, 26> LeftHandTrackingState;
+double LeftHandScale = 1.0;
+int LeftHandIsActive = 0;
+std::array<std::array<double, 7>, 26> RightHandTrackingState;
+double RightHandScale = 1.0;
+int RightHandIsActive = 0;
+// Whole body motion data - 24 joints for body tracking
+std::array<std::array<double, 7>, 24> BodyJointsPose;  // Position and rotation for each joint
+std::array<std::array<double, 6>, 24> BodyJointsVelocity;  // Velocity and angular velocity for each joint
+std::array<std::array<double, 6>, 24> BodyJointsAcceleration;  // Acceleration and angular acceleration for each joint
+std::array<int64_t, 24> BodyJointsTimestamp;  // IMU timestamp for each joint
+int64_t BodyTimeStampNs = 0;  // Body data timestamp
+bool BodyDataAvailable = false;  // Flag to indicate if body data is available
+std::array<std::array<double, 7>, 3> MotionTrackerPose;  // Position and rotation for each joint
+std::array<std::array<double, 6>, 3> MotionTrackerVelocity;  // Velocity and angular velocity for each joint
+std::array<std::array<double, 6>, 3> MotionTrackerAcceleration;  // Acceleration and angular acceleration for each joint
+std::array<std::string, 3> MotionTrackerSerialNumbers;  // Serial numbers of the motion trackers
+int64_t MotionTimeStampNs = 0;  // Motion data timestamp
+int NumMotionDataAvailable = 0;  // number of motion trackers
+bool LeftMenuButton;
+double LeftTrigger;
+double LeftGrip;
+std::array<double, 2> LeftAxis{0.0, 0.0};
+bool LeftAxisClick;
+bool LeftPrimaryButton;
+bool LeftSecondaryButton;
+bool RightMenuButton;
+double RightTrigger;
+double RightGrip;
+std::array<double, 2> RightAxis{0.0, 0.0};
+bool RightAxisClick;
+bool RightPrimaryButton;
+bool RightSecondaryButton;
+int64_t TimeStampNs;
+std::mutex leftMutex;
+std::mutex rightMutex;
+std::mutex headsetPoseMutex;
+std::mutex timestampMutex;
+std::mutex leftHandMutex;
+std::mutex rightHandMutex;
+std::mutex bodyMutex;  // Mutex for body tracking data
+std::mutex motionMutex;
+std::array<double, 7> stringToPoseArray(const std::string& poseStr) {
+    std::array<double, 7> result{0};
+    std::stringstream ss(poseStr);
+    std::string value;
+    int i = 0;
+    while (std::getline(ss, value, ',') && i < 7) {
+        result[i++] = std::stod(value);
+    }
+    return result;
+}
+std::array<double, 6> stringToVelocityArray(const std::string& velocityStr) {
+    std::array<double, 6> result{0};
+    std::stringstream ss(velocityStr);
+    std::string value;
+    int i = 0;
+    while (std::getline(ss, value, ',') && i < 6) {
+        result[i++] = std::stod(value);
+    }
+    return result;
+}
+void OnPXREAClientCallback(void* context, PXREAClientCallbackType type, int status, void* userData)
+{
+    switch (type)
+    {
+    case PXREAServerConnect:
+        std::cout << "server connect\n" << std::endl;
+        break;
+    case PXREAServerDisconnect:
+        std::cout << "server disconnect\n" << std::endl;
+        break;
+    case PXREADeviceFind:
+        std::cout << "device found\n" << (const char*)userData << std::endl;
+        break;
+    case PXREADeviceMissing:
+        std::cout << "device missing\n" << (const char*)userData << std::endl;
+        break;
+    case PXREADeviceConnect:
+        std::cout << "device connect\n" << (const char*)userData << status << std::endl;
+        break;
+    case PXREADeviceStateJson:
+        auto& dsj = *((PXREADevStateJson*)userData);
+        try {
+            json data = json::parse(dsj.stateJson);
+            if (data.contains("value")) {
+                auto value = json::parse(data["value"].get<std::string>());
+                if (value["Controller"].contains("left")) {
+                    auto& left = value["Controller"]["left"];
+                    {
+                        std::lock_guard<std::mutex> lock(leftMutex);
+                        LeftControllerPose = stringToPoseArray(left["pose"].get<std::string>());
+                        LeftTrigger = left["trigger"].get<double>();
+                        LeftGrip = left["grip"].get<double>();
+                        LeftMenuButton = left["menuButton"].get<bool>();
+                        LeftAxis[0] = left["axisX"].get<double>();
+                        LeftAxis[1] = left["axisY"].get<double>();
+                        LeftAxisClick = left["axisClick"].get<bool>();
+                        LeftPrimaryButton = left["primaryButton"].get<bool>();
+                        LeftSecondaryButton = left["secondaryButton"].get<bool>();
+                    }
+                }
+                if (value["Controller"].contains("right")) {
+                    auto& right = value["Controller"]["right"];
+                    {
+                        std::lock_guard<std::mutex> lock(rightMutex);
+                        RightControllerPose = stringToPoseArray(right["pose"].get<std::string>());
+                        RightTrigger = right["trigger"].get<double>();
+                        RightGrip = right["grip"].get<double>();
+                        RightMenuButton = right["menuButton"].get<bool>();
+                        RightAxis[0] = right["axisX"].get<double>();
+                        RightAxis[1] = right["axisY"].get<double>();
+                        RightAxisClick = right["axisClick"].get<bool>();
+                        RightPrimaryButton = right["primaryButton"].get<bool>();
+                        RightSecondaryButton = right["secondaryButton"].get<bool>();
+                    }
+                }
+                if (value.contains("Head")) {
+                    auto& headset = value["Head"];
+                    {
+                        std::lock_guard<std::mutex> lock(headsetPoseMutex);
+                        HeadsetPose = stringToPoseArray(headset["pose"].get<std::string>());
+                    }
+                }
+                if (value.contains("timeStampNs")) {
+                    std::lock_guard<std::mutex> lock(timestampMutex);
+                    TimeStampNs = value["timeStampNs"].get<int64_t>();
+                }
+                if (value["Hand"].contains("leftHand")) {
+                    auto& leftHand = value["Hand"]["leftHand"];
+                    {
+                        std::lock_guard<std::mutex> lock(leftHandMutex);
+                        LeftHandScale = leftHand["scale"].get<double>();
+                        LeftHandIsActive = leftHand["isActive"].get<int>();
+                        for (int i = 0; i < 26; i++) {
+                            LeftHandTrackingState[i] = stringToPoseArray(leftHand["HandJointLocations"][i]["p"].get<std::string>());
+                        }
+                    }
+                }
+                if (value["Hand"].contains("rightHand")) {
+                    auto& rightHand = value["Hand"]["rightHand"];
+                    {
+                        std::lock_guard<std::mutex> lock(rightHandMutex);
+                        RightHandScale = rightHand["scale"].get<double>();
+                        RightHandIsActive = rightHand["isActive"].get<int>();
+                        for (int i = 0; i < 26; i++) {
+                            RightHandTrackingState[i] = stringToPoseArray(rightHand["HandJointLocations"][i]["p"].get<std::string>());
+                        }
+                    }
+                }
+                // Parse Body data for whole body motion capture
+                if (value.contains("Body")) {
+                    auto& body = value["Body"];
+                    {
+                        std::lock_guard<std::mutex> lock(bodyMutex);
+                        if (body.contains("timeStampNs")) {
+                            BodyTimeStampNs = body["timeStampNs"].get<int64_t>();
+                        }
+                        if (body.contains("joints") && body["joints"].is_array()) {
+                            auto joints = body["joints"];
+                            int jointCount = std::min(static_cast<int>(joints.size()), 24);
+                            for (int i = 0; i < jointCount; i++) {
+                                auto& joint = joints[i];
+                                // Parse pose (position and rotation)
+                                if (joint.contains("p")) {
+                                    BodyJointsPose[i] = stringToPoseArray(joint["p"].get<std::string>());
+                                }
+                                // Parse velocity and angular velocity
+                                if (joint.contains("va")) {
+                                    BodyJointsVelocity[i] = stringToVelocityArray(joint["va"].get<std::string>());
+                                }
+                                // Parse acceleration and angular acceleration
+                                if (joint.contains("wva")) {
+                                    BodyJointsAcceleration[i] = stringToVelocityArray(joint["wva"].get<std::string>());
+                                }
+                                // Parse IMU timestamp
+                                if (joint.contains("t")) {
+                                    BodyJointsTimestamp[i] = joint["t"].get<int64_t>();
+                                }
+                            }
+                            BodyDataAvailable = true;
+                        }
+                    }
+                }
+                //parse individual tracker data
+                if (value.contains("Motion")) {
+                    auto& motion = value["Motion"];
+                    {
+                        std::lock_guard<std::mutex> lock(motionMutex);
+                        if (motion.contains("timeStampNs")) {
+                            MotionTimeStampNs = motion["timeStampNs"].get<int64_t>();
+                        }
+                        if (motion.contains("joints") && motion["joints"].is_array()) {
+                            auto joints = motion["joints"];
+                            NumMotionDataAvailable = std::min(static_cast<int>(joints.size()), 3);
+                            for (int i = 0; i < NumMotionDataAvailable; i++) {
+                                auto& joint = joints[i];
+                                // Parse pose (position and rotation)
+                                if (joint.contains("p")) {
+                                    MotionTrackerPose[i] = stringToPoseArray(joint["p"].get<std::string>());
+                                }
+                                // Parse velocity and angular velocity
+                                if (joint.contains("va")) {
+                                    MotionTrackerVelocity[i] = stringToVelocityArray(joint["va"].get<std::string>());
+                                }
+                                // Parse acceleration and angular acceleration
+                                if (joint.contains("wva")) {
+                                    MotionTrackerAcceleration[i] = stringToVelocityArray(joint["wva"].get<std::string>());
+                                }
+                                if (joint.contains("sn")) {
+                                    MotionTrackerSerialNumbers[i] = joint["sn"].get<std::string>();
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+        } catch (const json::exception& e) {
+            std::cerr << "JSON parsing error: " << e.what() << std::endl;
+        }
+            break;
+    }
+}
+void init() {
+    if (PXREAInit(NULL, OnPXREAClientCallback, PXREAFullMask) != 0) {
+        throw std::runtime_error("PXREAInit failed");
+    }
+}
+void deinit() {
+    PXREADeinit();
+}
+std::array<double, 7> getLeftControllerPose() {
+    std::lock_guard<std::mutex> lock(leftMutex);
+    return LeftControllerPose;
+}
+std::array<double, 7> getRightControllerPose() {
+    std::lock_guard<std::mutex> lock(rightMutex);
+    return RightControllerPose;
+}
+std::array<double, 7> getHeadsetPose() {
+    std::lock_guard<std::mutex> lock(headsetPoseMutex);
+    return HeadsetPose;
+}
+double getLeftTrigger() {
+    std::lock_guard<std::mutex> lock(leftMutex);
+    return LeftTrigger;
+}
+double getLeftGrip() {
+    std::lock_guard<std::mutex> lock(leftMutex);
+    return LeftGrip;
+}
+double getRightTrigger() {
+    std::lock_guard<std::mutex> lock(rightMutex);
+    return RightTrigger;
+}
+double getRightGrip() {
+    std::lock_guard<std::mutex> lock(rightMutex);
+    return RightGrip;
+}
+bool getLeftMenuButton() {
+    std::lock_guard<std::mutex> lock(leftMutex);
+    return LeftMenuButton;
+}
+bool getRightMenuButton() {
+    std::lock_guard<std::mutex> lock(rightMutex);
+    return RightMenuButton;
+}
+bool getLeftAxisClick() {
+    std::lock_guard<std::mutex> lock(leftMutex);
+    return LeftAxisClick;
+}
+bool getRightAxisClick() {
+    std::lock_guard<std::mutex> lock(rightMutex);
+    return RightAxisClick;
+}
+std::array<double, 2> getLeftAxis() {
+    std::lock_guard<std::mutex> lock(leftMutex);
+    return LeftAxis;
+}
+std::array<double, 2> getRightAxis() {
+    std::lock_guard<std::mutex> lock(rightMutex);
+    return RightAxis;
+}
+bool getLeftPrimaryButton() {
+    std::lock_guard<std::mutex> lock(leftMutex);
+    return LeftPrimaryButton;
+}
+bool getRightPrimaryButton() {
+    std::lock_guard<std::mutex> lock(rightMutex);
+    return RightPrimaryButton;
+}
+bool getLeftSecondaryButton() {
+    std::lock_guard<std::mutex> lock(leftMutex);
+    return LeftSecondaryButton;
+}
+bool getRightSecondaryButton() {
+    std::lock_guard<std::mutex> lock(rightMutex);
+    return RightSecondaryButton;
+}
+int64_t getTimeStampNs() {
+    std::lock_guard<std::mutex> lock(timestampMutex);
+    return TimeStampNs;
+}
+std::array<std::array<double, 7>, 26> getLeftHandTrackingState() {
+    std::lock_guard<std::mutex> lock(leftHandMutex);
+    return LeftHandTrackingState;
+}
+int getLeftHandScale() {
+    std::lock_guard<std::mutex> lock(leftHandMutex);
+    return LeftHandScale;
+}
+int getLeftHandIsActive() {
+    std::lock_guard<std::mutex> lock(leftHandMutex);
+    return LeftHandIsActive;
+}
+std::array<std::array<double, 7>, 26> getRightHandTrackingState() {
+    std::lock_guard<std::mutex> lock(rightHandMutex);
+    return RightHandTrackingState;
+}
+int getRightHandScale() {
+    std::lock_guard<std::mutex> lock(rightHandMutex);
+    return RightHandScale;
+}
+int getRightHandIsActive() {
+    std::lock_guard<std::mutex> lock(rightHandMutex);
+    return RightHandIsActive;
+}
+// Body tracking functions
+bool isBodyDataAvailable() {
+    std::lock_guard<std::mutex> lock(bodyMutex);
+    return BodyDataAvailable;
+}
+std::array<std::array<double, 7>, 24> getBodyJointsPose() {
+    std::lock_guard<std::mutex> lock(bodyMutex);
+    return BodyJointsPose;
+}
+std::array<std::array<double, 6>, 24> getBodyJointsVelocity() {
+    std::lock_guard<std::mutex> lock(bodyMutex);
+    return BodyJointsVelocity;
+}
+std::array<std::array<double, 6>, 24> getBodyJointsAcceleration() {
+    std::lock_guard<std::mutex> lock(bodyMutex);
+    return BodyJointsAcceleration;
+}
+std::array<int64_t, 24> getBodyJointsTimestamp() {
+    std::lock_guard<std::mutex> lock(bodyMutex);
+    return BodyJointsTimestamp;
+}
+int64_t getBodyTimeStampNs() {
+    std::lock_guard<std::mutex> lock(bodyMutex);
+    return BodyTimeStampNs;
+}
+int numMotionDataAvailable() {
+    std::lock_guard<std::mutex> lock(motionMutex);
+    return NumMotionDataAvailable;
+}
+std::vector<std::array<double, 7>> getMotionTrackerPose() {
+    std::lock_guard<std::mutex> lock(motionMutex);
+    std::vector<std::array<double, 7>> result;
+    for (int i = 0; i < NumMotionDataAvailable; i++) {
+        result.push_back(MotionTrackerPose[i]);
+    }
+    return result;
+}
+std::vector<std::array<double, 6>> getMotionTrackerVelocity() {
+    std::lock_guard<std::mutex> lock(motionMutex);
+    std::vector<std::array<double, 6>> result;
+    for (int i = 0; i < NumMotionDataAvailable; i++) {
+        result.push_back(MotionTrackerVelocity[i]);
+    }
+    return result;
+}
+std::vector<std::array<double, 6>> getMotionTrackerAcceleration() {
+    std::lock_guard<std::mutex> lock(motionMutex);
+    std::vector<std::array<double, 6>> result;
+    for (int i = 0; i < NumMotionDataAvailable; i++) {
+        result.push_back(MotionTrackerAcceleration[i]);
+    }
+    return result;
+}
+std::vector<std::string> getMotionTrackerSerialNumbers() {
+    std::lock_guard<std::mutex> lock(motionMutex);
+    std::vector<std::string> result;
+    for (int i = 0; i < NumMotionDataAvailable; i++) {
+        result.push_back(MotionTrackerSerialNumbers[i]);
+    }
+    return result;
+}
+int64_t getMotionTimeStampNs() {
+    std::lock_guard<std::mutex> lock(motionMutex);
+    return MotionTimeStampNs;
+}
+int DeviceControlJsonWrapper(const std::string& dev_id, const std::string& json_str) {
+    const int rc = PXREADeviceControlJson(dev_id.c_str(), json_str.c_str());
+    if (rc != 0) {
+        throw std::runtime_error("device_control_json failed");
+    }
+    return rc; // 0
+}
+int SendBytesToDeviceWrapper(const std::string& dev_id, pybind11::bytes blob) {
+    std::string s = blob;  // copy Python bytes to std::string
+    const int rc = PXREASendBytesToDevice(dev_id.c_str(), s.data(), static_cast<unsigned>(s.size()));
+    if (rc != 0) {
+        throw std::runtime_error("send_bytes_to_device failed");
+    }
+    return rc; // 0
+}
+PYBIND11_MODULE(xrobotoolkit_sdk, m) {
+    m.def("init", &init, "Initialize the PXREARobot SDK.");
+    m.def("close", &deinit, "Deinitialize the PXREARobot SDK.");
+    m.def("get_left_controller_pose", &getLeftControllerPose, "Get the left controller pose.");
+    m.def("get_right_controller_pose", &getRightControllerPose, "Get the right controller pose.");
+    m.def("get_headset_pose", &getHeadsetPose, "Get the headset pose.");
+    m.def("get_left_trigger", &getLeftTrigger, "Get the left trigger value.");
+    m.def("get_left_grip", &getLeftGrip, "Get the left grip value.");
+    m.def("get_right_trigger", &getRightTrigger, "Get the right trigger value.");
+    m.def("get_right_grip", &getRightGrip, "Get the right grip value.");
+    m.def("get_left_menu_button", &getLeftMenuButton, "Get the left menu button state.");
+    m.def("get_right_menu_button", &getRightMenuButton, "Get the right menu button state.");
+    m.def("get_left_axis_click", &getLeftAxisClick, "Get the left axis click state.");
+    m.def("get_right_axis_click", &getRightAxisClick, "Get the right axis click state.");
+    m.def("get_left_axis", &getLeftAxis, "Get the left axis values (x, y).");
+    m.def("get_right_axis", &getRightAxis, "Get the right axis values (x, y).");
+    m.def("get_X_button", &getLeftPrimaryButton, "Get the left primary button state.");
+    m.def("get_A_button", &getRightPrimaryButton, "Get the right primary button state.");
+    m.def("get_Y_button", &getLeftSecondaryButton, "Get the left secondary button state.");
+    m.def("get_B_button", &getRightSecondaryButton, "Get the right secondary button state.");
+    m.def("get_time_stamp_ns", &getTimeStampNs, "Get the timestamp in nanoseconds.");
+    m.def("get_left_hand_tracking_state", &getLeftHandTrackingState, "Get the left hand state.");
+    m.def("get_right_hand_tracking_state", &getRightHandTrackingState, "Get the right hand state.");
+    m.def("get_left_hand_is_active", &getLeftHandIsActive, "Get the left hand tracking quality (0 = low, 1 = high).");
+    m.def("get_right_hand_is_active", &getRightHandIsActive, "Get the right hand tracking quality (0 = low, 1 = high).");
+    // Body tracking functions
+    m.def("is_body_data_available", &isBodyDataAvailable, "Check if body tracking data is available.");
+    m.def("get_body_joints_pose", &getBodyJointsPose, "Get the body joints pose data (24 joints, 7 values each: x,y,z,qx,qy,qz,qw).");
+    m.def("get_body_joints_velocity", &getBodyJointsVelocity, "Get the body joints velocity data (24 joints, 6 values each: vx,vy,vz,wx,wy,wz).");
+    m.def("get_body_joints_acceleration", &getBodyJointsAcceleration, "Get the body joints acceleration data (24 joints, 6 values each: ax,ay,az,wax,way,waz).");
+    m.def("get_body_joints_timestamp", &getBodyJointsTimestamp, "Get the body joints IMU timestamp data (24 joints).");
+    m.def("get_body_timestamp_ns", &getBodyTimeStampNs, "Get the body data timestamp in nanoseconds.");
+    // Motion tracker functions
+    m.def("num_motion_data_available", &numMotionDataAvailable, "Check if motion tracker data is available.");
+    m.def("get_motion_tracker_pose", &getMotionTrackerPose, "Get the motion tracker pose data (3 trackers, 7 values each: x,y,z,qx,qy,qz,qw).");
+    m.def("get_motion_tracker_velocity", &getMotionTrackerVelocity, "Get the motion tracker velocity data (3 trackers, 6 values each: vx,vy,vz,wx,wy,wz).");
+    m.def("get_motion_tracker_acceleration", &getMotionTrackerAcceleration, "Get the motion tracker acceleration data (3 trackers, 6 values each: ax,ay,az,wax,way,waz).");
+    m.def("get_motion_tracker_serial_numbers", &getMotionTrackerSerialNumbers, "Get the serial numbers of the motion trackers.");
+    m.def("get_motion_timestamp_ns", &getMotionTimeStampNs, "Get the motion data timestamp in nanoseconds.");
+    // send json bytes functions
+    m.def("device_control_json", &DeviceControlJsonWrapper, "Send a JSON control command to a device");
+    m.def("send_bytes_to_device", &SendBytesToDeviceWrapper, "Send raw bytes to a device");
+    m.doc() = "Python bindings for PXREARobot SDK using pybind11.";
+}

GR00T-WholeBodyControl/external_dependencies/XRoboToolkit-PC-Service-Pybind_X86_and_ARM64/examples/example.py ADDED Viewed

	@@ -0,0 +1,47 @@

+# 1. Get Controller and Headset Poses
+import xrobotoolkit_sdk as xrt
+xrt.init()
+left_pose = xrt.get_left_controller_pose()
+right_pose = xrt.get_right_controller_pose()
+headset_pose = xrt.get_headset_pose()
+print(f"Left Controller Pose: {left_pose}")
+print(f"Right Controller Pose: {right_pose}")
+print(f"Headset Pose: {headset_pose}")
+# 2. Get Controller Inputs (Triggers, Grips, Buttons, Axes)**
+# Triggers and Grips
+left_trigger = xrt.get_left_trigger()
+right_grip = xrt.get_right_grip()
+print(f"Left Trigger: {left_trigger}, Right Grip: {right_grip}")
+# Buttons
+a_button_pressed = xrt.get_A_button()
+x_button_pressed = xrt.get_X_button()
+print(f"A Button Pressed: {a_button_pressed}, X Button Pressed: {x_button_pressed}")
+# Axes
+left_axis = xrt.get_left_axis()
+right_axis_click = xrt.get_right_axis_click()
+print(f"Left Axis: {left_axis}, Right Axis Clicked: {right_axis_click}")
+# Timestamp
+timestamp = xrt.get_time_stamp_ns()
+print(f"Current Timestamp (ns): {timestamp}")
+# 3. Get hand tracking state
+# Left Hand State
+left_hand_tracking_state = xrt.get_left_hand_tracking_state()
+print(f"Left Hand State: {left_hand_tracking_state}")
+# Right Hand State
+right_hand_tracking_state = xrt.get_right_hand_tracking_state()
+print(f"Right Hand State: {right_hand_tracking_state}")

GR00T-WholeBodyControl/external_dependencies/XRoboToolkit-PC-Service-Pybind_X86_and_ARM64/examples/example_body_tracking.py ADDED Viewed

	@@ -0,0 +1,86 @@

+#!/usr/bin/env python3
+"""
+Example script demonstrating whole body motion tracking with XRoboToolkit SDK.
+This script shows how to:
+1. Check if body tracking data is available
+2. Get body joint poses (position and rotation)
+3. Get body joint velocities and accelerations
+4. Get IMU timestamps for each joint
+5. Get body data timestamp
+6. Save data to structured format (pickle/json)
+Body Joint Indices (24 joints total):
+0: Pelvis, 1: Left Hip, 2: Right Hip, 3: Spine1, 4: Left Knee, 5: Right Knee,
+6: Spine2, 7: Left Ankle, 8: Right Ankle, 9: Spine3, 10: Left Foot, 11: Right Foot,
+12: Neck, 13: Left Collar, 14: Right Collar, 15: Head, 16: Left Shoulder, 17: Right Shoulder,
+18: Left Elbow, 19: Right Elbow, 20: Left Wrist, 21: Right Wrist, 22: Left Hand, 23: Right Hand
+"""
+import xrobotoolkit_sdk as xrt
+import time
+import argparse
+import csv
+import os
+import json
+import pickle
+from datetime import datetime
+def main():
+    xrt.init()
+    while not xrt.is_body_data_available():
+        time.sleep(0.01)
+    if xrt.is_body_data_available():
+        print("Body tracking data is available!")
+        # Joint names for reference
+        joint_names = [
+            "Pelvis", "Left_Hip", "Right_Hip", "Spine1", "Left_Knee", "Right_Knee",
+            "Spine2", "Left_Ankle", "Right_Ankle", "Spine3", "Left_Foot", "Right_Foot",
+            "Neck", "Left_Collar", "Right_Collar", "Head", "Left_Shoulder", "Right_Shoulder",
+            "Left_Elbow", "Right_Elbow", "Left_Wrist", "Right_Wrist", "Left_Hand", "Right_Hand"
+        ]
+        body_poses = xrt.get_body_joints_pose() # list of [x, y, z, qx, qy, qz, qw]
+        body_velocities = xrt.get_body_joints_velocity() # vx, vy, vz, wx, wy, wz
+        body_accelerations = xrt.get_body_joints_acceleration() # ax, ay, az, wax, way, waz
+        imu_timestamps = xrt.get_body_joints_timestamp() # list of [timestamp]
+        body_timestamp = xrt.get_body_timestamp_ns() # timestamp in ns
+        saved_data = []
+        length = 500
+        step_idx = 0
+        while len(saved_data) < length:
+            # Sample data at specified rate
+            if xrt.is_body_data_available():
+                # Get all body tracking data
+                body_poses = xrt.get_body_joints_pose()
+                body_velocities = xrt.get_body_joints_velocity()
+                body_accelerations = xrt.get_body_joints_acceleration()
+                imu_timestamps = xrt.get_body_joints_timestamp()
+                body_timestamp = xrt.get_body_timestamp_ns()
+                body_pose_dict = {}
+                for i, joint_name in enumerate(joint_names):
+                    pos = [body_poses[i][0], body_poses[i][1], body_poses[i][2]]
+                    rot = [body_poses[i][6], body_poses[i][3], body_poses[i][4], body_poses[i][5]] # scalar first
+                    body_pose_dict[joint_name] = [pos, rot]
+                saved_data.append(body_pose_dict)
+                step_idx += 1
+            time.sleep(1/50)
+            print(f"Step {step_idx} of {length}")
+        with open('body_tracking_data.pkl', 'wb') as f:
+            pickle.dump(saved_data, f)
+if __name__ == "__main__":
+    main()

GR00T-WholeBodyControl/external_dependencies/XRoboToolkit-PC-Service-Pybind_X86_and_ARM64/examples/example_motion_tracker.py ADDED Viewed

	@@ -0,0 +1,17 @@

+import xrobotoolkit_sdk as xrt
+xrt.init()
+num_motion_data = xrt.num_motion_data_available()
+print(f"Number of Motion Trackers: {num_motion_data}")
+if num_motion_data > 0:
+    motion_tracker_pose = xrt.get_motion_tracker_pose()
+    motion_tracker_velocity = xrt.get_motion_tracker_velocity()
+    motion_tracker_acceleration = xrt.get_motion_tracker_acceleration()
+    motion_tracker_serial_numbers = xrt.get_motion_tracker_serial_numbers()
+    motion_timestamp_ns = xrt.get_motion_timestamp_ns()
+    print(f"Motion Tracker Pose: {motion_tracker_pose}")
+    print(f"Motion Tracker Velocity: {motion_tracker_velocity}")
+    print(f"Motion Tracker Acceleration: {motion_tracker_acceleration}")
+    print(f"Motion Tracker Serial Numbers: {motion_tracker_serial_numbers}")
+    print(f"Motion Timestamp (ns): {motion_timestamp_ns}")

GR00T-WholeBodyControl/external_dependencies/XRoboToolkit-PC-Service-Pybind_X86_and_ARM64/examples/run_binding_continuous.py ADDED Viewed

	@@ -0,0 +1,111 @@

+import sys
+import time
+import xrobotoolkit_sdk as xrt
+def run_tests():
+    print("Starting Python binding test...")
+    try:
+        print("Initializing SDK...")
+        xrt.init()
+        print("SDK Initialized successfully.")
+        print("\n--- Testing all functions for 10 iterations ---")
+        for i in range(100):
+            print(f"\n--- Iteration {i+1} ---")
+            # Poses
+            left_pose = xrt.get_left_controller_pose()
+            right_pose = xrt.get_right_controller_pose()
+            headset_pose = xrt.get_headset_pose()
+            print(f"Left Controller Pose: {left_pose}")
+            print(f"Right Controller Pose: {right_pose}")
+            print(f"Headset Pose: {headset_pose}")
+            # Triggers
+            left_trigger = xrt.get_left_trigger()
+            right_trigger = xrt.get_right_trigger()
+            print(f"Left Trigger: {left_trigger}")
+            print(f"Right Trigger: {right_trigger}")
+            # Grips
+            left_grip = xrt.get_left_grip()
+            right_grip = xrt.get_right_grip()
+            print(f"Left Grip: {left_grip}")
+            print(f"Right Grip: {right_grip}")
+            # Menu Buttons
+            left_menu = xrt.get_left_menu_button()
+            right_menu = xrt.get_right_menu_button()
+            print(f"Left Menu Button: {left_menu}")
+            print(f"Right Menu Button: {right_menu}")
+            # Axis Clicks
+            left_axis_click = xrt.get_left_axis_click()
+            right_axis_click = xrt.get_right_axis_click()
+            print(f"Left Axis Click: {left_axis_click}")
+            print(f"Right Axis Click: {right_axis_click}")
+            # Axes
+            left_axis = xrt.get_left_axis()
+            right_axis = xrt.get_right_axis()
+            print(f"Left Axis (X, Y): {left_axis}")
+            print(f"Right Axis (X, Y): {right_axis}")
+            # Primary Buttons (X, A)
+            x_button = xrt.get_X_button()  # Left Primary
+            a_button = xrt.get_A_button()  # Right Primary
+            print(f"X Button (Left Primary): {x_button}")
+            print(f"A Button (Right Primary): {a_button}")
+            # Secondary Buttons (Y, B)
+            y_button = xrt.get_Y_button()  # Left Secondary
+            b_button = xrt.get_B_button()  # Right Secondary
+            print(f"Y Button (Left Secondary): {y_button}")
+            print(f"B Button (Right Secondary): {b_button}")
+            # Left Hand State
+            left_hand_state = xrt.get_left_hand_tracking_state()
+            print(f"Left Hand State: {left_hand_state}")
+            # Right Hand State
+            right_hand_state = xrt.get_right_hand_tracking_state()
+            print(f"Right Hand State: {right_hand_state}")
+            # Timestamp
+            timestamp = xrt.get_time_stamp_ns()
+            print(f"Timestamp (ns): {timestamp}")
+            num_motion_data = xrt.num_motion_data_available()
+            print(f"Number of Motion Trackers: {num_motion_data}")
+            if num_motion_data > 0:
+                motion_tracker_pose = xrt.get_motion_tracker_pose()
+                motion_tracker_velocity = xrt.get_motion_tracker_velocity()
+                motion_tracker_acceleration = xrt.get_motion_tracker_acceleration()
+                motion_tracker_serial_numbers = xrt.get_motion_tracker_serial_numbers()
+                motion_timestamp_ns = xrt.get_motion_timestamp_ns()
+                print(f"Motion Tracker Pose: {motion_tracker_pose}")
+                print(f"Motion Tracker Velocity: {motion_tracker_velocity}")
+                print(f"Motion Tracker Acceleration: {motion_tracker_acceleration}")
+                print(f"Motion Tracker Serial Numbers: {motion_tracker_serial_numbers}")
+                print(f"Motion Timestamp (ns): {motion_timestamp_ns}")
+            time.sleep(0.5)  # Wait for 0.5 seconds before the next iteration
+        print("\nAll iterations complete.")
+    except RuntimeError as e:
+        print(f"Runtime Error: {e}", file=sys.stderr)
+    except Exception as e:
+        print(f"An unexpected error occurred: {e}", file=sys.stderr)
+    finally:
+        print("\nClosing SDK...")
+        xrt.close()
+        print("SDK closed.")
+        print("Test finished.")
+if __name__ == "__main__":
+    run_tests()

GR00T-WholeBodyControl/external_dependencies/XRoboToolkit-PC-Service-Pybind_X86_and_ARM64/examples/send_json_example.py ADDED Viewed

	@@ -0,0 +1,29 @@

+import json, time
+import xrobotoolkit_sdk as xrt
+from datetime import datetime
+xrt.init()  # 建链、启动心跳与服务端反馈流
+dev_id = "TestDevice"  # your device ID in unity app
+# send JSON
+for i in range(3):
+	print("start sending")
+	start = int(time.time() * 1e3)
+	cmd = {"functionName": "set_robot", "value": {"mode": "teach"}, "timestamp_ns": start}
+	jsonfile= json.dumps(cmd)
+	jsontime = int(time.time()*1e3)
+	xrt.device_control_json(dev_id,jsonfile)
+	end = int(time.time()*1e3)
+	print("json process time", jsontime - start)
+	print("current time difference ", end-start)
+# send bytes
+print("send_bytes_to_device rc =", xrt.send_bytes_to_device(dev_id, b"\xAA\x55\x10\x00"))

GR00T-WholeBodyControl/external_dependencies/XRoboToolkit-PC-Service-Pybind_X86_and_ARM64/examples/test_hand_isactive.py ADDED Viewed

	@@ -0,0 +1,63 @@

+#!/usr/bin/env python3
+"""
+Test script for hand tracking isActive functionality.
+This script demonstrates how to use the new isActive functions to check
+hand tracking quality for both left and right hands.
+"""
+import xrobotoolkit_sdk as xrt
+import time
+def main():
+    try:
+        # Initialize the SDK
+        print("Initializing XRoboToolkit SDK...")
+        xrt.init()
+        print("Testing hand tracking isActive functionality...")
+        print("isActive values: 0 = low quality, 1 = high quality")
+        print("Press Ctrl+C to stop\n")
+        while True:
+            # Get hand tracking states
+            left_hand_state = xrt.get_left_hand_tracking_state()
+            right_hand_state = xrt.get_right_hand_tracking_state()
+            # Get hand tracking quality (isActive)
+            left_hand_active = xrt.get_left_hand_is_active()
+            right_hand_active = xrt.get_right_hand_is_active()
+            print(f"Left Hand:  isActive={left_hand_active}")
+            print(f"Right Hand: isActive={right_hand_active}")
+            # Show hand tracking quality status
+            left_quality = "HIGH" if left_hand_active == 1 else "LOW"
+            right_quality = "HIGH" if right_hand_active == 1 else "LOW"
+            print(f"Left Hand Quality: {left_quality}")
+            print(f"Right Hand Quality: {right_quality}")
+            # Example of first joint position for reference
+            if len(left_hand_state) > 0:
+                left_wrist_pos = left_hand_state[0][:3]  # x, y, z
+                print(f"Left Wrist Position: ({left_wrist_pos[0]:.3f}, {left_wrist_pos[1]:.3f}, {left_wrist_pos[2]:.3f})")
+            if len(right_hand_state) > 0:
+                right_wrist_pos = right_hand_state[0][:3]  # x, y, z
+                print(f"Right Wrist Position: ({right_wrist_pos[0]:.3f}, {right_wrist_pos[1]:.3f}, {right_wrist_pos[2]:.3f})")
+            print("-" * 50)
+            time.sleep(1)
+    except KeyboardInterrupt:
+        print("\nStopping hand tracking test...")
+    except Exception as e:
+        print(f"Error: {e}")
+    finally:
+        print("Closing SDK...")
+        xrt.close()
+if __name__ == "__main__":
+    main()

GR00T-WholeBodyControl/external_dependencies/XRoboToolkit-PC-Service-Pybind_X86_and_ARM64/include/PXREARobotSDK.h ADDED Viewed

	@@ -0,0 +1,120 @@

+/**
+ * @file PXREARobotSDK.h
+ * @brief Robot SDK header file for client-side communication
+ */
+#ifndef PXREACLIENTSDK_H
+#define PXREACLIENTSDK_H
+#ifdef _WIN32
+#if defined(PXREACLIENTSDK_LIBRARY)
+#  define PXREACLIENTSDK_EXPORT __declspec(dllexport)
+#else
+#  define PXREACLIENTSDK_EXPORT __declspec(dllimport)
+#endif
+#endif
+#ifdef __linux__
+#if defined(PXREACLIENTSDK_LIBRARY)
+#  define PXREACLIENTSDK_EXPORT __attribute__((visibility("default")))
+#else
+#  define PXREACLIENTSDK_EXPORT __attribute__((visibility("default")))
+#endif
+#endif
+#ifdef __cplusplus
+extern "C" {
+#endif
+enum PXREAClientCallbackType
+{
+    /// @brief Server connected
+    PXREAServerConnect          = 1<<2,
+    /// @brief Server disconnected
+    PXREAServerDisconnect       = 1<<3,
+    /// @brief Device online
+    PXREADeviceFind             = 1<<4,
+    /// @brief Device offline
+    PXREADeviceMissing          = 1<<5,
+    /// @brief Device connected
+    PXREADeviceConnect          = 1<<9,
+    /// @brief Device state in JSON format
+    PXREADeviceStateJson        = 1<<25,
+    /// @brief Custom message
+    PXREADeviceCustomMessage    = 1<<26,
+    /// @brief Mask for enabling all callbacks
+    PXREAFullMask               = 0xffffffff
+};
+/// @brief Device state in JSON format
+typedef struct {
+    /// @brief Device serial number
+    char devID[32];
+    /// @brief JSON string containing device state information
+    char stateJson[16352];
+}PXREADevStateJson;
+typedef struct {
+    /// @brief Device serial number
+    char devID[32];
+    /// @brief Data size
+    uint64_t dataSize;
+    /// @brief Data pointer, valid within callback
+    const char* dataPtr;
+}PXREADevCustomMessage;
+/**
+ * @brief Client callback for receiving server messages
+ * @param context Callback context, passed from #Init parameter 1 context
+ * @param type Callback type
+ * @param status Callback status code
+ * @param userData Callback data pointer, determined by parameter 2 type
+ */
+typedef void(*pfPXREAClientCallback)(void* context,PXREAClientCallbackType type,int status,void* userData);
+/**
+ * @brief SDK initialization interface
+ * @details Connect to service and register callback
+ * @param context Callback context for passing user-defined data to callback function
+ * @param cliCallback Callback function pointer for listening to server messages
+ * @param mask Callback mask for filtering certain server messages
+ */
+PXREACLIENTSDK_EXPORT int PXREAInit(void* context,pfPXREAClientCallback cliCallback,unsigned mask);
+/**
+ * @brief Termination interface
+ * @details Disconnect from service
+ */
+PXREACLIENTSDK_EXPORT int PXREADeinit();
+/**
+ * @brief Send JSON format command to device
+ * @param devID Device serial number
+ * @param parameterJson Function and parameters in JSON format, refer to robot SDK documentation for specific usage
+ * @return 0 Success
+ * @return -1 Failure
+ */
+PXREACLIENTSDK_EXPORT int PXREADeviceControlJson(const char *devID,const char *parameterJson);
+/**
+ * @brief Send byte stream to specified device
+ * @note This command is suitable for SDK caller's custom messages
+ * @param devID Device serial number
+ * @param data Starting address of byte stream
+ * @param len Length of byte stream
+ * @return 0 Success
+ * @return -1 Failure
+ */
+PXREACLIENTSDK_EXPORT int PXREASendBytesToDevice(const char* devID,const char* data,unsigned len);
+#ifdef __cplusplus
+}
+#endif
+#endif // PXREACLIENTSDK_H

GR00T-WholeBodyControl/external_dependencies/XRoboToolkit-PC-Service-Pybind_X86_and_ARM64/include/aarch64/PXREARobotSDK.h ADDED Viewed

	@@ -0,0 +1,120 @@

+/**
+ * @file PXREARobotSDK.h
+ * @brief Robot SDK header file for client-side communication
+ */
+#ifndef PXREACLIENTSDK_H
+#define PXREACLIENTSDK_H
+#ifdef _WIN32
+#if defined(PXREACLIENTSDK_LIBRARY)
+#  define PXREACLIENTSDK_EXPORT __declspec(dllexport)
+#else
+#  define PXREACLIENTSDK_EXPORT __declspec(dllimport)
+#endif
+#endif
+#ifdef __linux__
+#if defined(PXREACLIENTSDK_LIBRARY)
+#  define PXREACLIENTSDK_EXPORT __attribute__((visibility("default")))
+#else
+#  define PXREACLIENTSDK_EXPORT __attribute__((visibility("default")))
+#endif
+#endif
+#ifdef __cplusplus
+extern "C" {
+#endif
+enum PXREAClientCallbackType
+{
+    /// @brief Server connected
+    PXREAServerConnect          = 1<<2,
+    /// @brief Server disconnected
+    PXREAServerDisconnect       = 1<<3,
+    /// @brief Device online
+    PXREADeviceFind             = 1<<4,
+    /// @brief Device offline
+    PXREADeviceMissing          = 1<<5,
+    /// @brief Device connected
+    PXREADeviceConnect          = 1<<9,
+    /// @brief Device state in JSON format
+    PXREADeviceStateJson        = 1<<25,
+    /// @brief Custom message
+    PXREADeviceCustomMessage    = 1<<26,
+    /// @brief Mask for enabling all callbacks
+    PXREAFullMask               = 0xffffffff
+};
+/// @brief Device state in JSON format
+typedef struct {
+    /// @brief Device serial number
+    char devID[32];
+    /// @brief JSON string containing device state information
+    char stateJson[16352];
+}PXREADevStateJson;
+typedef struct {
+    /// @brief Device serial number
+    char devID[32];
+    /// @brief Data size
+    uint64_t dataSize;
+    /// @brief Data pointer, valid within callback
+    const char* dataPtr;
+}PXREADevCustomMessage;
+/**
+ * @brief Client callback for receiving server messages
+ * @param context Callback context, passed from #Init parameter 1 context
+ * @param type Callback type
+ * @param status Callback status code
+ * @param userData Callback data pointer, determined by parameter 2 type
+ */
+typedef void(*pfPXREAClientCallback)(void* context,PXREAClientCallbackType type,int status,void* userData);
+/**
+ * @brief SDK initialization interface
+ * @details Connect to service and register callback
+ * @param context Callback context for passing user-defined data to callback function
+ * @param cliCallback Callback function pointer for listening to server messages
+ * @param mask Callback mask for filtering certain server messages
+ */
+PXREACLIENTSDK_EXPORT int PXREAInit(void* context,pfPXREAClientCallback cliCallback,unsigned mask);
+/**
+ * @brief Termination interface
+ * @details Disconnect from service
+ */
+PXREACLIENTSDK_EXPORT int PXREADeinit();
+/**
+ * @brief Send JSON format command to device
+ * @param devID Device serial number
+ * @param parameterJson Function and parameters in JSON format, refer to robot SDK documentation for specific usage
+ * @return 0 Success
+ * @return -1 Failure
+ */
+PXREACLIENTSDK_EXPORT int PXREADeviceControlJson(const char *devID,const char *parameterJson);
+/**
+ * @brief Send byte stream to specified device
+ * @note This command is suitable for SDK caller's custom messages
+ * @param devID Device serial number
+ * @param data Starting address of byte stream
+ * @param len Length of byte stream
+ * @return 0 Success
+ * @return -1 Failure
+ */
+PXREACLIENTSDK_EXPORT int PXREASendBytesToDevice(const char* devID,const char* data,unsigned len);
+#ifdef __cplusplus
+}
+#endif
+#endif // PXREACLIENTSDK_H

GR00T-WholeBodyControl/external_dependencies/XRoboToolkit-PC-Service-Pybind_X86_and_ARM64/include/aarch64/nlohmann/json.hpp ADDED Viewed

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GR00T-WholeBodyControl/external_dependencies/XRoboToolkit-PC-Service-Pybind_X86_and_ARM64/include/aarch64/nlohmann/json_fwd.hpp ADDED Viewed

	@@ -0,0 +1,176 @@

+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+#ifndef INCLUDE_NLOHMANN_JSON_FWD_HPP_
+#define INCLUDE_NLOHMANN_JSON_FWD_HPP_
+#include <cstdint> // int64_t, uint64_t
+#include <map> // map
+#include <memory> // allocator
+#include <string> // string
+#include <vector> // vector
+// #include <nlohmann/detail/abi_macros.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+// This file contains all macro definitions affecting or depending on the ABI
+#ifndef JSON_SKIP_LIBRARY_VERSION_CHECK
+    #if defined(NLOHMANN_JSON_VERSION_MAJOR) && defined(NLOHMANN_JSON_VERSION_MINOR) && defined(NLOHMANN_JSON_VERSION_PATCH)
+        #if NLOHMANN_JSON_VERSION_MAJOR != 3 || NLOHMANN_JSON_VERSION_MINOR != 11 || NLOHMANN_JSON_VERSION_PATCH != 3
+            #warning "Already included a different version of the library!"
+        #endif
+    #endif
+#endif
+#define NLOHMANN_JSON_VERSION_MAJOR 3   // NOLINT(modernize-macro-to-enum)
+#define NLOHMANN_JSON_VERSION_MINOR 11  // NOLINT(modernize-macro-to-enum)
+#define NLOHMANN_JSON_VERSION_PATCH 3   // NOLINT(modernize-macro-to-enum)
+#ifndef JSON_DIAGNOSTICS
+    #define JSON_DIAGNOSTICS 0
+#endif
+#ifndef JSON_USE_LEGACY_DISCARDED_VALUE_COMPARISON
+    #define JSON_USE_LEGACY_DISCARDED_VALUE_COMPARISON 0
+#endif
+#if JSON_DIAGNOSTICS
+    #define NLOHMANN_JSON_ABI_TAG_DIAGNOSTICS _diag
+#else
+    #define NLOHMANN_JSON_ABI_TAG_DIAGNOSTICS
+#endif
+#if JSON_USE_LEGACY_DISCARDED_VALUE_COMPARISON
+    #define NLOHMANN_JSON_ABI_TAG_LEGACY_DISCARDED_VALUE_COMPARISON _ldvcmp
+#else
+    #define NLOHMANN_JSON_ABI_TAG_LEGACY_DISCARDED_VALUE_COMPARISON
+#endif
+#ifndef NLOHMANN_JSON_NAMESPACE_NO_VERSION
+    #define NLOHMANN_JSON_NAMESPACE_NO_VERSION 0
+#endif
+// Construct the namespace ABI tags component
+#define NLOHMANN_JSON_ABI_TAGS_CONCAT_EX(a, b) json_abi ## a ## b
+#define NLOHMANN_JSON_ABI_TAGS_CONCAT(a, b) \
+    NLOHMANN_JSON_ABI_TAGS_CONCAT_EX(a, b)
+#define NLOHMANN_JSON_ABI_TAGS                                       \
+    NLOHMANN_JSON_ABI_TAGS_CONCAT(                                   \
+            NLOHMANN_JSON_ABI_TAG_DIAGNOSTICS,                       \
+            NLOHMANN_JSON_ABI_TAG_LEGACY_DISCARDED_VALUE_COMPARISON)
+// Construct the namespace version component
+#define NLOHMANN_JSON_NAMESPACE_VERSION_CONCAT_EX(major, minor, patch) \
+    _v ## major ## _ ## minor ## _ ## patch
+#define NLOHMANN_JSON_NAMESPACE_VERSION_CONCAT(major, minor, patch) \
+    NLOHMANN_JSON_NAMESPACE_VERSION_CONCAT_EX(major, minor, patch)
+#if NLOHMANN_JSON_NAMESPACE_NO_VERSION
+#define NLOHMANN_JSON_NAMESPACE_VERSION
+#else
+#define NLOHMANN_JSON_NAMESPACE_VERSION                                 \
+    NLOHMANN_JSON_NAMESPACE_VERSION_CONCAT(NLOHMANN_JSON_VERSION_MAJOR, \
+                                           NLOHMANN_JSON_VERSION_MINOR, \
+                                           NLOHMANN_JSON_VERSION_PATCH)
+#endif
+// Combine namespace components
+#define NLOHMANN_JSON_NAMESPACE_CONCAT_EX(a, b) a ## b
+#define NLOHMANN_JSON_NAMESPACE_CONCAT(a, b) \
+    NLOHMANN_JSON_NAMESPACE_CONCAT_EX(a, b)
+#ifndef NLOHMANN_JSON_NAMESPACE
+#define NLOHMANN_JSON_NAMESPACE               \
+    nlohmann::NLOHMANN_JSON_NAMESPACE_CONCAT( \
+            NLOHMANN_JSON_ABI_TAGS,           \
+            NLOHMANN_JSON_NAMESPACE_VERSION)
+#endif
+#ifndef NLOHMANN_JSON_NAMESPACE_BEGIN
+#define NLOHMANN_JSON_NAMESPACE_BEGIN                \
+    namespace nlohmann                               \
+    {                                                \
+    inline namespace NLOHMANN_JSON_NAMESPACE_CONCAT( \
+                NLOHMANN_JSON_ABI_TAGS,              \
+                NLOHMANN_JSON_NAMESPACE_VERSION)     \
+    {
+#endif
+#ifndef NLOHMANN_JSON_NAMESPACE_END
+#define NLOHMANN_JSON_NAMESPACE_END                                     \
+    }  /* namespace (inline namespace) NOLINT(readability/namespace) */ \
+    }  // namespace nlohmann
+#endif
+/*!
+@brief namespace for Niels Lohmann
+@see https://github.com/nlohmann
+@since version 1.0.0
+*/
+NLOHMANN_JSON_NAMESPACE_BEGIN
+/*!
+@brief default JSONSerializer template argument
+This serializer ignores the template arguments and uses ADL
+([argument-dependent lookup](https://en.cppreference.com/w/cpp/language/adl))
+for serialization.
+*/
+template<typename T = void, typename SFINAE = void>
+struct adl_serializer;
+/// a class to store JSON values
+/// @sa https://json.nlohmann.me/api/basic_json/
+template<template<typename U, typename V, typename... Args> class ObjectType =
+         std::map,
+         template<typename U, typename... Args> class ArrayType = std::vector,
+         class StringType = std::string, class BooleanType = bool,
+         class NumberIntegerType = std::int64_t,
+         class NumberUnsignedType = std::uint64_t,
+         class NumberFloatType = double,
+         template<typename U> class AllocatorType = std::allocator,
+         template<typename T, typename SFINAE = void> class JSONSerializer =
+         adl_serializer,
+         class BinaryType = std::vector<std::uint8_t>, // cppcheck-suppress syntaxError
+         class CustomBaseClass = void>
+class basic_json;
+/// @brief JSON Pointer defines a string syntax for identifying a specific value within a JSON document
+/// @sa https://json.nlohmann.me/api/json_pointer/
+template<typename RefStringType>
+class json_pointer;
+/*!
+@brief default specialization
+@sa https://json.nlohmann.me/api/json/
+*/
+using json = basic_json<>;
+/// @brief a minimal map-like container that preserves insertion order
+/// @sa https://json.nlohmann.me/api/ordered_map/
+template<class Key, class T, class IgnoredLess, class Allocator>
+struct ordered_map;
+/// @brief specialization that maintains the insertion order of object keys
+/// @sa https://json.nlohmann.me/api/ordered_json/
+using ordered_json = basic_json<nlohmann::ordered_map>;
+NLOHMANN_JSON_NAMESPACE_END
+#endif  // INCLUDE_NLOHMANN_JSON_FWD_HPP_

GR00T-WholeBodyControl/external_dependencies/XRoboToolkit-PC-Service-Pybind_X86_and_ARM64/include/nlohmann/json.hpp ADDED Viewed

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GR00T-WholeBodyControl/external_dependencies/XRoboToolkit-PC-Service-Pybind_X86_and_ARM64/include/nlohmann/json_fwd.hpp ADDED Viewed

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+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+#ifndef INCLUDE_NLOHMANN_JSON_FWD_HPP_
+#define INCLUDE_NLOHMANN_JSON_FWD_HPP_
+#include <cstdint> // int64_t, uint64_t
+#include <map> // map
+#include <memory> // allocator
+#include <string> // string
+#include <vector> // vector
+// #include <nlohmann/detail/abi_macros.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+// This file contains all macro definitions affecting or depending on the ABI
+#ifndef JSON_SKIP_LIBRARY_VERSION_CHECK
+    #if defined(NLOHMANN_JSON_VERSION_MAJOR) && defined(NLOHMANN_JSON_VERSION_MINOR) && defined(NLOHMANN_JSON_VERSION_PATCH)
+        #if NLOHMANN_JSON_VERSION_MAJOR != 3 || NLOHMANN_JSON_VERSION_MINOR != 11 || NLOHMANN_JSON_VERSION_PATCH != 3
+            #warning "Already included a different version of the library!"
+        #endif
+    #endif
+#endif
+#define NLOHMANN_JSON_VERSION_MAJOR 3   // NOLINT(modernize-macro-to-enum)
+#define NLOHMANN_JSON_VERSION_MINOR 11  // NOLINT(modernize-macro-to-enum)
+#define NLOHMANN_JSON_VERSION_PATCH 3   // NOLINT(modernize-macro-to-enum)
+#ifndef JSON_DIAGNOSTICS
+    #define JSON_DIAGNOSTICS 0
+#endif
+#ifndef JSON_USE_LEGACY_DISCARDED_VALUE_COMPARISON
+    #define JSON_USE_LEGACY_DISCARDED_VALUE_COMPARISON 0
+#endif
+#if JSON_DIAGNOSTICS
+    #define NLOHMANN_JSON_ABI_TAG_DIAGNOSTICS _diag
+#else
+    #define NLOHMANN_JSON_ABI_TAG_DIAGNOSTICS
+#endif
+#if JSON_USE_LEGACY_DISCARDED_VALUE_COMPARISON
+    #define NLOHMANN_JSON_ABI_TAG_LEGACY_DISCARDED_VALUE_COMPARISON _ldvcmp
+#else
+    #define NLOHMANN_JSON_ABI_TAG_LEGACY_DISCARDED_VALUE_COMPARISON
+#endif
+#ifndef NLOHMANN_JSON_NAMESPACE_NO_VERSION
+    #define NLOHMANN_JSON_NAMESPACE_NO_VERSION 0
+#endif
+// Construct the namespace ABI tags component
+#define NLOHMANN_JSON_ABI_TAGS_CONCAT_EX(a, b) json_abi ## a ## b
+#define NLOHMANN_JSON_ABI_TAGS_CONCAT(a, b) \
+    NLOHMANN_JSON_ABI_TAGS_CONCAT_EX(a, b)
+#define NLOHMANN_JSON_ABI_TAGS                                       \
+    NLOHMANN_JSON_ABI_TAGS_CONCAT(                                   \
+            NLOHMANN_JSON_ABI_TAG_DIAGNOSTICS,                       \
+            NLOHMANN_JSON_ABI_TAG_LEGACY_DISCARDED_VALUE_COMPARISON)
+// Construct the namespace version component
+#define NLOHMANN_JSON_NAMESPACE_VERSION_CONCAT_EX(major, minor, patch) \
+    _v ## major ## _ ## minor ## _ ## patch
+#define NLOHMANN_JSON_NAMESPACE_VERSION_CONCAT(major, minor, patch) \
+    NLOHMANN_JSON_NAMESPACE_VERSION_CONCAT_EX(major, minor, patch)
+#if NLOHMANN_JSON_NAMESPACE_NO_VERSION
+#define NLOHMANN_JSON_NAMESPACE_VERSION
+#else
+#define NLOHMANN_JSON_NAMESPACE_VERSION                                 \
+    NLOHMANN_JSON_NAMESPACE_VERSION_CONCAT(NLOHMANN_JSON_VERSION_MAJOR, \
+                                           NLOHMANN_JSON_VERSION_MINOR, \
+                                           NLOHMANN_JSON_VERSION_PATCH)
+#endif
+// Combine namespace components
+#define NLOHMANN_JSON_NAMESPACE_CONCAT_EX(a, b) a ## b
+#define NLOHMANN_JSON_NAMESPACE_CONCAT(a, b) \
+    NLOHMANN_JSON_NAMESPACE_CONCAT_EX(a, b)
+#ifndef NLOHMANN_JSON_NAMESPACE
+#define NLOHMANN_JSON_NAMESPACE               \
+    nlohmann::NLOHMANN_JSON_NAMESPACE_CONCAT( \
+            NLOHMANN_JSON_ABI_TAGS,           \
+            NLOHMANN_JSON_NAMESPACE_VERSION)
+#endif
+#ifndef NLOHMANN_JSON_NAMESPACE_BEGIN
+#define NLOHMANN_JSON_NAMESPACE_BEGIN                \
+    namespace nlohmann                               \
+    {                                                \
+    inline namespace NLOHMANN_JSON_NAMESPACE_CONCAT( \
+                NLOHMANN_JSON_ABI_TAGS,              \
+                NLOHMANN_JSON_NAMESPACE_VERSION)     \
+    {
+#endif
+#ifndef NLOHMANN_JSON_NAMESPACE_END
+#define NLOHMANN_JSON_NAMESPACE_END                                     \
+    }  /* namespace (inline namespace) NOLINT(readability/namespace) */ \
+    }  // namespace nlohmann
+#endif
+/*!
+@brief namespace for Niels Lohmann
+@see https://github.com/nlohmann
+@since version 1.0.0
+*/
+NLOHMANN_JSON_NAMESPACE_BEGIN
+/*!
+@brief default JSONSerializer template argument
+This serializer ignores the template arguments and uses ADL
+([argument-dependent lookup](https://en.cppreference.com/w/cpp/language/adl))
+for serialization.
+*/
+template<typename T = void, typename SFINAE = void>
+struct adl_serializer;
+/// a class to store JSON values
+/// @sa https://json.nlohmann.me/api/basic_json/
+template<template<typename U, typename V, typename... Args> class ObjectType =
+         std::map,
+         template<typename U, typename... Args> class ArrayType = std::vector,
+         class StringType = std::string, class BooleanType = bool,
+         class NumberIntegerType = std::int64_t,
+         class NumberUnsignedType = std::uint64_t,
+         class NumberFloatType = double,
+         template<typename U> class AllocatorType = std::allocator,
+         template<typename T, typename SFINAE = void> class JSONSerializer =
+         adl_serializer,
+         class BinaryType = std::vector<std::uint8_t>, // cppcheck-suppress syntaxError
+         class CustomBaseClass = void>
+class basic_json;
+/// @brief JSON Pointer defines a string syntax for identifying a specific value within a JSON document
+/// @sa https://json.nlohmann.me/api/json_pointer/
+template<typename RefStringType>
+class json_pointer;
+/*!
+@brief default specialization
+@sa https://json.nlohmann.me/api/json/
+*/
+using json = basic_json<>;
+/// @brief a minimal map-like container that preserves insertion order
+/// @sa https://json.nlohmann.me/api/ordered_map/
+template<class Key, class T, class IgnoredLess, class Allocator>
+struct ordered_map;
+/// @brief specialization that maintains the insertion order of object keys
+/// @sa https://json.nlohmann.me/api/ordered_json/
+using ordered_json = basic_json<nlohmann::ordered_map>;
+NLOHMANN_JSON_NAMESPACE_END
+#endif  // INCLUDE_NLOHMANN_JSON_FWD_HPP_

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/b2/camera/camera_opencv.py ADDED Viewed

	@@ -0,0 +1,51 @@

+from unitree_sdk2py.core.channel import ChannelFactoryInitialize
+from unitree_sdk2py.b2.front_video.front_video_client import FrontVideoClient
+from unitree_sdk2py.b2.back_video.back_video_client import BackVideoClient
+import cv2
+import numpy as np
+import sys
+def display_image(window_name, data):
+    # If data is a list, we need to convert it to a bytes object
+    if isinstance(data, list):
+        data = bytes(data)
+    # Now convert to numpy image
+    image_data = np.frombuffer(data, dtype=np.uint8)
+    image = cv2.imdecode(image_data, cv2.IMREAD_COLOR)
+    if image is not None:
+        cv2.imshow(window_name, image)
+if __name__ == "__main__":
+    if len(sys.argv) > 1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+    frontCameraClient = FrontVideoClient()  # Create a front camera video client
+    frontCameraClient.SetTimeout(3.0)
+    frontCameraClient.Init()
+    backCameraClient = BackVideoClient()  # Create a back camera video client
+    backCameraClient.SetTimeout(3.0)
+    backCameraClient.Init()
+    # Loop to continuously fetch images
+    while True:
+        # Get front camera image
+        front_code, front_data = frontCameraClient.GetImageSample()
+        if front_code == 0:
+            display_image("Front Camera", front_data)
+        # Get back camera image
+        back_code, back_data = backCameraClient.GetImageSample()
+        if back_code == 0:
+            display_image("Back Camera", back_data)
+        # Press ESC to stop
+        if cv2.waitKey(20) == 27:
+            break
+    # Clean up windows
+    cv2.destroyAllWindows()

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/b2/camera/capture_image.py ADDED Viewed

	@@ -0,0 +1,51 @@

+import time
+import os
+import sys
+from unitree_sdk2py.core.channel import ChannelFactoryInitialize
+from unitree_sdk2py.b2.front_video.front_video_client import FrontVideoClient
+from unitree_sdk2py.b2.back_video.back_video_client import BackVideoClient
+if __name__ == "__main__":
+    if len(sys.argv) > 1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+    # 创建前置相机客户端
+    front_client = FrontVideoClient()
+    front_client.SetTimeout(3.0)
+    front_client.Init()
+    # 创建后置相机客户端
+    back_client = BackVideoClient()
+    back_client.SetTimeout(3.0)
+    back_client.Init()
+    print("##################Get Front Camera Image###################")
+    # 获取前置相机图像
+    front_code, front_data = front_client.GetImageSample()
+    if front_code != 0:
+        print("Get front camera image error. Code:", front_code)
+    else:
+        front_image_name = "./front_img.jpg"
+        print("Front Image Saved as:", front_image_name)
+        with open(front_image_name, "+wb") as f:
+            f.write(bytes(front_data))
+    print("##################Get Back Camera Image###################")
+    # 获取后置相机图像
+    back_code, back_data = back_client.GetImageSample()
+    if back_code != 0:
+        print("Get back camera image error. Code:", back_code)
+    else:
+        back_image_name = "./back_img.jpg"
+        print("Back Image Saved as:", back_image_name)
+        with open(back_image_name, "+wb") as f:
+            f.write(bytes(back_data))
+    time.sleep(1)

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/b2/high_level/b2_sport_client.py ADDED Viewed

	@@ -0,0 +1,105 @@

+import time
+import sys
+from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
+from unitree_sdk2py.b2.sport.sport_client import SportClient
+import math
+from dataclasses import dataclass
+@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="recovery", id=9),
+    TestOption(name="balanced stand", id=10)
+]
+class UserInterface:
+    def __init__(self):
+        self.test_option_ = None
+    def convert_to_int(self, input_str):
+        try:
+            return int(input_str)
+        except ValueError:
+            return None
+    def terminal_handle(self):
+        input_str = input("Enter id or name: \n")
+        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}")
+            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}")
+                return
+        print("No matching test option found.")
+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])
+    test_option = TestOption(name=None, id=None)
+    user_interface = UserInterface()
+    user_interface.test_option_ = test_option
+    sport_client = SportClient()
+    sport_client.SetTimeout(10.0)
+    sport_client.Init()
+    print("Input \"list\" to list all test option ...")
+    while True:
+        user_interface.terminal_handle()
+        print(f"Updated Test Option: Name = {test_option.name}, ID = {test_option.id}")
+        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.RecoveryStand()
+        elif test_option.id == 10:
+            sport_client.BalanceStand()
+        time.sleep(1)

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/b2/low_level/b2_stand_example.py ADDED Viewed

	@@ -0,0 +1,175 @@

+import time
+import sys
+from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize
+from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
+from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowCmd_
+from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowState_
+from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowCmd_
+from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowState_
+from unitree_sdk2py.utils.thread import RecurrentThread
+import unitree_legged_const as b2
+from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import MotionSwitcherClient
+from unitree_sdk2py.b2.sport.sport_client import SportClient
+from unitree_sdk2py.utils.crc import CRC
+class Custom:
+    def __init__(self):
+        self.Kp = 1000.0
+        self.Kd = 10.0
+        self.time_consume = 0
+        self.rate_count = 0
+        self.sin_count = 0
+        self.motiontime = 0
+        self.dt = 0.002
+        self.low_cmd = unitree_go_msg_dds__LowCmd_()
+        self.low_state = None
+        self.targetPos_1 = [0.0, 1.36, -2.65, 0.0, 1.36, -2.65,
+                             -0.2, 1.36, -2.65, 0.2, 1.36, -2.65]
+        self.targetPos_2 = [0.0, 0.67, -1.3, 0.0, 0.67, -1.3,
+                             0.0, 0.67, -1.3, 0.0, 0.67, -1.3]
+        self.targetPos_3 = [-0.5, 1.36, -2.65, 0.5, 1.36, -2.65,
+                             -0.5, 1.36, -2.65, 0.5, 1.36, -2.65]
+        self.startPos = [0.0] * 12
+        self.duration_1 = 500
+        self.duration_2 = 900
+        self.duration_3 = 1000
+        self.duration_4 = 900
+        self.percent_1 = 0
+        self.percent_2 = 0
+        self.percent_3 = 0
+        self.percent_4 = 0
+        self.firstRun = True
+        self.done = False
+        # thread handling
+        self.lowCmdWriteThreadPtr = None
+        self.crc = CRC()
+    def Init(self):
+        self.InitLowCmd()
+        # create publisher #
+        self.lowcmd_publisher = ChannelPublisher("rt/lowcmd", LowCmd_)
+        self.lowcmd_publisher.Init()
+        # create subscriber #
+        self.lowstate_subscriber = ChannelSubscriber("rt/lowstate", LowState_)
+        self.lowstate_subscriber.Init(self.LowStateMessageHandler, 10)
+        self.sc = SportClient()
+        self.sc.SetTimeout(5.0)
+        self.sc.Init()
+        self.msc = MotionSwitcherClient()
+        self.msc.SetTimeout(5.0)
+        self.msc.Init()
+        status, result = self.msc.CheckMode()
+        while result['name']:
+            self.sc.StandDown()
+            self.msc.ReleaseMode()
+            status, result = self.msc.CheckMode()
+            time.sleep(1)
+    def Start(self):
+        self.lowCmdWriteThreadPtr = RecurrentThread(
+            interval=0.002, target=self.LowCmdWrite, name="writebasiccmd"
+        )
+        self.lowCmdWriteThreadPtr.Start()
+    def InitLowCmd(self):
+        self.low_cmd.head[0] = 0xFE
+        self.low_cmd.head[1] = 0xEF
+        self.low_cmd.level_flag = 0xFF
+        self.low_cmd.gpio = 0
+        for i in range(20):
+            self.low_cmd.motor_cmd[i].mode = 0x01
+            self.low_cmd.motor_cmd[i].q= b2.PosStopF
+            self.low_cmd.motor_cmd[i].kp = 0
+            self.low_cmd.motor_cmd[i].dq = b2.VelStopF
+            self.low_cmd.motor_cmd[i].kd = 0
+            self.low_cmd.motor_cmd[i].tau = 0
+    def LowStateMessageHandler(self, msg: LowState_):
+        self.low_state = msg
+    def LowCmdWrite(self):
+        if self.firstRun:
+            for i in range(12):
+                self.startPos[i] = self.low_state.motor_state[i].q
+            self.firstRun = False
+        self.percent_1 += 1.0 / self.duration_1
+        self.percent_1 = min(self.percent_1, 1)
+        if self.percent_1 < 1:
+            for i in range(12):
+                self.low_cmd.motor_cmd[i].q = (1 - self.percent_1) * self.startPos[i] + self.percent_1 * self.targetPos_1[i]
+                self.low_cmd.motor_cmd[i].dq = 0
+                self.low_cmd.motor_cmd[i].kp = self.Kp
+                self.low_cmd.motor_cmd[i].kd = self.Kd
+                self.low_cmd.motor_cmd[i].tau = 0
+        if (self.percent_1 == 1) and (self.percent_2 <= 1):
+            self.percent_2 += 1.0 / self.duration_2
+            self.percent_2 = min(self.percent_2, 1)
+            for i in range(12):
+                self.low_cmd.motor_cmd[i].q = (1 - self.percent_2) * self.targetPos_1[i] + self.percent_2 * self.targetPos_2[i]
+                self.low_cmd.motor_cmd[i].dq = 0
+                self.low_cmd.motor_cmd[i].kp = self.Kp
+                self.low_cmd.motor_cmd[i].kd = self.Kd
+                self.low_cmd.motor_cmd[i].tau = 0
+        if (self.percent_1 == 1) and (self.percent_2 == 1) and (self.percent_3 < 1):
+            self.percent_3 += 1.0 / self.duration_3
+            self.percent_3 = min(self.percent_3, 1)
+            for i in range(12):
+                self.low_cmd.motor_cmd[i].q = self.targetPos_2[i]
+                self.low_cmd.motor_cmd[i].dq = 0
+                self.low_cmd.motor_cmd[i].kp = self.Kp
+                self.low_cmd.motor_cmd[i].kd = self.Kd
+                self.low_cmd.motor_cmd[i].tau = 0
+        if (self.percent_1 == 1) and (self.percent_2 == 1) and (self.percent_3 == 1) and (self.percent_4 <= 1):
+            self.percent_4 += 1.0 / self.duration_4
+            self.percent_4 = min(self.percent_4, 1)
+            for i in range(12):
+                self.low_cmd.motor_cmd[i].q = (1 - self.percent_4) * self.targetPos_2[i] + self.percent_4 * self.targetPos_3[i]
+                self.low_cmd.motor_cmd[i].dq = 0
+                self.low_cmd.motor_cmd[i].kp = self.Kp
+                self.low_cmd.motor_cmd[i].kd = self.Kd
+                self.low_cmd.motor_cmd[i].tau = 0
+        self.low_cmd.crc = self.crc.Crc(self.low_cmd)
+        self.lowcmd_publisher.Write(self.low_cmd)
+if __name__ == '__main__':
+    print("WARNING: Please ensure there are no obstacles around the robot while running this example.")
+    input("Press Enter to continue...")
+    if len(sys.argv)>1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+    custom = Custom()
+    custom.Init()
+    custom.Start()
+    while True:
+        if custom.percent_4 == 1.0:
+           time.sleep(1)
+           print("Done!")
+           sys.exit(-1)
+        time.sleep(1)

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/b2/low_level/unitree_legged_const.py ADDED Viewed

	@@ -0,0 +1,20 @@

+LegID = {
+    "FR_0": 0,  # Front right hip
+    "FR_1": 1,  # Front right thigh
+    "FR_2": 2,  # Front right calf
+    "FL_0": 3,
+    "FL_1": 4,
+    "FL_2": 5,
+    "RR_0": 6,
+    "RR_1": 7,
+    "RR_2": 8,
+    "RL_0": 9,
+    "RL_1": 10,
+    "RL_2": 11,
+}
+HIGHLEVEL = 0xEE
+LOWLEVEL = 0xFF
+TRIGERLEVEL = 0xF0
+PosStopF = 2.146e9
+VelStopF = 16000.0

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/b2w/camera/camera_opencv.py ADDED Viewed

	@@ -0,0 +1,51 @@

+from unitree_sdk2py.core.channel import ChannelFactoryInitialize
+from unitree_sdk2py.b2.front_video.front_video_client import FrontVideoClient
+from unitree_sdk2py.b2.back_video.back_video_client import BackVideoClient
+import cv2
+import numpy as np
+import sys
+def display_image(window_name, data):
+    # If data is a list, we need to convert it to a bytes object
+    if isinstance(data, list):
+        data = bytes(data)
+    # Now convert to numpy image
+    image_data = np.frombuffer(data, dtype=np.uint8)
+    image = cv2.imdecode(image_data, cv2.IMREAD_COLOR)
+    if image is not None:
+        cv2.imshow(window_name, image)
+if __name__ == "__main__":
+    if len(sys.argv) > 1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+    frontCameraClient = FrontVideoClient()  # Create a front camera video client
+    frontCameraClient.SetTimeout(3.0)
+    frontCameraClient.Init()
+    backCameraClient = BackVideoClient()  # Create a back camera video client
+    backCameraClient.SetTimeout(3.0)
+    backCameraClient.Init()
+    # Loop to continuously fetch images
+    while True:
+        # Get front camera image
+        front_code, front_data = frontCameraClient.GetImageSample()
+        if front_code == 0:
+            display_image("Front Camera", front_data)
+        # Get back camera image
+        back_code, back_data = backCameraClient.GetImageSample()
+        if back_code == 0:
+            display_image("Back Camera", back_data)
+        # Press ESC to stop
+        if cv2.waitKey(20) == 27:
+            break
+    # Clean up windows
+    cv2.destroyAllWindows()

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/b2w/camera/capture_image.py ADDED Viewed

	@@ -0,0 +1,51 @@

+import time
+import os
+import sys
+from unitree_sdk2py.core.channel import ChannelFactoryInitialize
+from unitree_sdk2py.b2.front_video.front_video_client import FrontVideoClient
+from unitree_sdk2py.b2.back_video.back_video_client import BackVideoClient
+if __name__ == "__main__":
+    if len(sys.argv) > 1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+    # 创建前置相机客户端
+    front_client = FrontVideoClient()
+    front_client.SetTimeout(3.0)
+    front_client.Init()
+    # 创建后置相机客户端
+    back_client = BackVideoClient()
+    back_client.SetTimeout(3.0)
+    back_client.Init()
+    print("##################Get Front Camera Image###################")
+    # 获取前置相机图像
+    front_code, front_data = front_client.GetImageSample()
+    if front_code != 0:
+        print("Get front camera image error. Code:", front_code)
+    else:
+        front_image_name = "./front_img.jpg"
+        print("Front Image Saved as:", front_image_name)
+        with open(front_image_name, "+wb") as f:
+            f.write(bytes(front_data))
+    print("##################Get Back Camera Image###################")
+    # 获取后置相机图像
+    back_code, back_data = back_client.GetImageSample()
+    if back_code != 0:
+        print("Get back camera image error. Code:", back_code)
+    else:
+        back_image_name = "./back_img.jpg"
+        print("Back Image Saved as:", back_image_name)
+        with open(back_image_name, "+wb") as f:
+            f.write(bytes(back_data))
+    time.sleep(1)

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/b2w/high_level/b2w_sport_client.py ADDED Viewed

	@@ -0,0 +1,101 @@

+import time
+import sys
+from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
+from unitree_sdk2py.b2.sport.sport_client import SportClient
+import math
+from dataclasses import dataclass
+@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="recovery", id=9)
+]
+class UserInterface:
+    def __init__(self):
+        self.test_option_ = None
+    def convert_to_int(self, input_str):
+        try:
+            return int(input_str)
+        except ValueError:
+            return None
+    def terminal_handle(self):
+        input_str = input("Enter id or name: \n")
+        if input_str == "list":
+            self.test_option_.name = None
+            self.test_option_.id = None
+            for option in option_list:
+                print(f"name: {option.name}, id: {option.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}")
+                return
+        print("No matching test option found.")
+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])
+    test_option = TestOption(name=None, id=None)
+    user_interface = UserInterface()
+    user_interface.test_option_ = test_option
+    sport_client = SportClient()
+    sport_client.SetTimeout(10.0)
+    sport_client.Init()
+    print("Input \"list\" to list all test option ...")
+    while True:
+        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.RecoveryStand()
+        time.sleep(1)

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/b2w/low_level/b2w_stand_example.py ADDED Viewed

	@@ -0,0 +1,196 @@

+import time
+import sys
+from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize
+from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
+from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowCmd_
+from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowState_
+from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowCmd_
+from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowState_
+from unitree_sdk2py.utils.crc import CRC
+from unitree_sdk2py.utils.thread import RecurrentThread
+import unitree_legged_const as b2w
+from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import MotionSwitcherClient
+from unitree_sdk2py.b2.sport.sport_client import SportClient
+class Custom:
+    def __init__(self):
+        self.Kp = 1000.0
+        self.Kd = 10.0
+        self.time_consume = 0
+        self.rate_count = 0
+        self.sin_count = 0
+        self.motiontime = 0
+        self.dt = 0.002
+        self.low_cmd = unitree_go_msg_dds__LowCmd_()
+        self.low_state = None
+        self.targetPos_1 = [0.0, 1.36, -2.65, 0.0, 1.36, -2.65,
+                             -0.2, 1.36, -2.65, 0.2, 1.36, -2.65]
+        self.targetPos_2 = [0.0, 0.67, -1.3, 0.0, 0.67, -1.3,
+                             0.0, 0.67, -1.3, 0.0, 0.67, -1.3]
+        self.targetPos_3 = [-0.65, 1.36, -2.65, 0.65, 1.36, -2.65,
+                             -0.65, 1.36, -2.65, 0.65, 1.36, -2.65]
+        self.startPos = [0.0] * 12
+        self.duration_1 = 800
+        self.duration_2 = 800
+        self.duration_3 = 2000
+        self.duration_4 = 1500
+        self.percent_1 = 0
+        self.percent_2 = 0
+        self.percent_3 = 0
+        self.percent_4 = 0
+        self.firstRun = True
+        self.done = False
+        # thread handling
+        self.lowCmdWriteThreadPtr = None
+        self.crc = CRC()
+    def Init(self):
+        self.InitLowCmd()
+        # create publisher #
+        self.lowcmd_publisher = ChannelPublisher("rt/lowcmd", LowCmd_)
+        self.lowcmd_publisher.Init()
+        # create subscriber #
+        self.lowstate_subscriber = ChannelSubscriber("rt/lowstate", LowState_)
+        self.lowstate_subscriber.Init(self.LowStateMessageHandler, 10)
+        self.sc = SportClient()
+        self.sc.SetTimeout(5.0)
+        self.sc.Init()
+        self.msc = MotionSwitcherClient()
+        self.msc.SetTimeout(5.0)
+        self.msc.Init()
+        status, result = self.msc.CheckMode()
+        while result['name']:
+            self.sc.StandDown()
+            self.msc.ReleaseMode()
+            status, result = self.msc.CheckMode()
+            time.sleep(1)
+    def Start(self):
+        self.lowCmdWriteThreadPtr = RecurrentThread(
+            name="writebasiccmd", interval=self.dt, target=self.LowCmdWrite,
+        )
+        self.lowCmdWriteThreadPtr.Start()
+    def InitLowCmd(self):
+        self.low_cmd.head[0] = 0xFE
+        self.low_cmd.head[1] = 0xEF
+        self.low_cmd.level_flag = 0xFF
+        self.low_cmd.gpio = 0
+        for i in range(20):
+            self.low_cmd.motor_cmd[i].mode = 0x01  # (PMSM) mode
+            self.low_cmd.motor_cmd[i].q = b2w.PosStopF
+            self.low_cmd.motor_cmd[i].kp = 0
+            self.low_cmd.motor_cmd[i].dq = b2w.VelStopF
+            self.low_cmd.motor_cmd[i].kd = 0
+            self.low_cmd.motor_cmd[i].tau = 0
+    def LowStateMessageHandler(self, msg: LowState_):
+        self.low_state = msg
+    def LowCmdWrite(self):
+        if self.firstRun:
+            for i in range(12):
+                self.startPos[i] = self.low_state.motor_state[i].q
+            self.firstRun = False
+        self.percent_1 += 1.0 / self.duration_1
+        self.percent_1 = min(self.percent_1, 1)
+        if self.percent_1 < 1:
+            for i in range(12):
+                self.low_cmd.motor_cmd[i].q = (1 - self.percent_1) * self.startPos[i] + self.percent_1 * self.targetPos_1[i]
+                self.low_cmd.motor_cmd[i].dq = 0
+                self.low_cmd.motor_cmd[i].kp = self.Kp
+                self.low_cmd.motor_cmd[i].kd = self.Kd
+                self.low_cmd.motor_cmd[i].tau = 0
+        if (self.percent_1 == 1) and (self.percent_2 <= 1):
+            self.percent_2 += 1.0 / self.duration_2
+            self.percent_2 = min(self.percent_2, 1)
+            for i in range(12):
+                self.low_cmd.motor_cmd[i].q = (1 - self.percent_2) * self.targetPos_1[i] + self.percent_2 * self.targetPos_2[i]
+                self.low_cmd.motor_cmd[i].dq = 0
+                self.low_cmd.motor_cmd[i].kp = self.Kp
+                self.low_cmd.motor_cmd[i].kd = self.Kd
+                self.low_cmd.motor_cmd[i].tau = 0
+        if (self.percent_1 == 1) and (self.percent_2 == 1) and (self.percent_3 < 1):
+            self.percent_3 += 1.0 / self.duration_3
+            self.percent_3 = min(self.percent_3, 1)
+            for i in range(12):
+                self.low_cmd.motor_cmd[i].q = self.targetPos_2[i]
+                self.low_cmd.motor_cmd[i].dq = 0
+                self.low_cmd.motor_cmd[i].kp = self.Kp
+                self.low_cmd.motor_cmd[i].kd = self.Kd
+                self.low_cmd.motor_cmd[i].tau = 0
+            if self.percent_3 < 0.4:
+                for i in range(12, 16):
+                    self.low_cmd.motor_cmd[i].q = 0
+                    self.low_cmd.motor_cmd[i].kp = 0
+                    self.low_cmd.motor_cmd[i].dq = 3
+                    self.low_cmd.motor_cmd[i].kd = self.Kd
+                    self.low_cmd.motor_cmd[i].tau = 0
+            if 0.4 <= self.percent_3 < 0.8:
+                for i in range(12, 16):
+                    self.low_cmd.motor_cmd[i].q = 0
+                    self.low_cmd.motor_cmd[i].kp = 0
+                    self.low_cmd.motor_cmd[i].dq = -3
+                    self.low_cmd.motor_cmd[i].kd = self.Kd
+                    self.low_cmd.motor_cmd[i].tau = 0
+            if self.percent_3 >= 0.8:
+                for i in range(12, 16):
+                    self.low_cmd.motor_cmd[i].q = 0
+                    self.low_cmd.motor_cmd[i].kp = 0
+                    self.low_cmd.motor_cmd[i].dq = 0
+                    self.low_cmd.motor_cmd[i].kd = self.Kd
+                    self.low_cmd.motor_cmd[i].tau = 0
+        if (self.percent_1 == 1) and (self.percent_2 == 1) and (self.percent_3 == 1) and (self.percent_4 <= 1):
+            self.percent_4 += 1.0 / self.duration_4
+            self.percent_4 = min(self.percent_4, 1)
+            for i in range(12):
+                self.low_cmd.motor_cmd[i].q = (1 - self.percent_4) * self.targetPos_2[i] + self.percent_4 * self.targetPos_3[i]
+                self.low_cmd.motor_cmd[i].dq = 0
+                self.low_cmd.motor_cmd[i].kp = self.Kp
+                self.low_cmd.motor_cmd[i].kd = self.Kd
+                self.low_cmd.motor_cmd[i].tau = 0
+        self.low_cmd.crc = self.crc.Crc(self.low_cmd)
+        self.lowcmd_publisher.Write(self.low_cmd)
+if __name__ == '__main__':
+    print("WARNING: Please ensure there are no obstacles around the robot while running this example.")
+    input("Press Enter to continue...")
+    if len(sys.argv)>1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+    custom = Custom()
+    custom.Init()
+    custom.Start()
+    while True:
+        if custom.percent_4 == 1.0:
+           time.sleep(1)
+           print("Done!")
+           sys.exit(-1)
+        time.sleep(1)

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/b2w/low_level/unitree_legged_const.py ADDED Viewed

	@@ -0,0 +1,24 @@

+LegID = {
+    "FR_0": 0,  # Front right hip
+    "FR_1": 1,  # Front right thigh
+    "FR_2": 2,  # Front right calf
+    "FL_0": 3,
+    "FL_1": 4,
+    "FL_2": 5,
+    "RR_0": 6,
+    "RR_1": 7,
+    "RR_2": 8,
+    "RL_0": 9,
+    "RL_1": 10,
+    "RL_2": 11,
+    "FR_w": 12, # Front right wheel
+    "FL_w": 13, # Front left wheel
+    "RR_w": 14, # Rear right wheel
+    "RL_w": 15, # Rear left wheel
+}
+HIGHLEVEL = 0xEE
+LOWLEVEL = 0xFF
+TRIGERLEVEL = 0xF0
+PosStopF = 2.146e9
+VelStopF = 16000.0

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/g1/audio/g1_audio_client_example.py ADDED Viewed

	@@ -0,0 +1,44 @@

+import time
+import sys
+from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
+from unitree_sdk2py.g1.audio.g1_audio_client import AudioClient
+from unitree_sdk2py.g1.loco.g1_loco_client import LocoClient
+if __name__ == "__main__":
+    if len(sys.argv) < 2:
+        print(f"Usage: python3 {sys.argv[0]} networkInterface")
+        sys.exit(-1)
+    ChannelFactoryInitialize(0, sys.argv[1])
+    audio_client = AudioClient()
+    audio_client.SetTimeout(10.0)
+    audio_client.Init()
+    sport_client = LocoClient()
+    sport_client.SetTimeout(10.0)
+    sport_client.Init()
+    ret = audio_client.GetVolume()
+    print("debug GetVolume: ",ret)
+    audio_client.SetVolume(85)
+    ret = audio_client.GetVolume()
+    print("debug GetVolume: ",ret)
+    sport_client.WaveHand()
+    audio_client.TtsMaker("大家好!我是宇树科技人形机器人。语音开发测试例程运行成功！ 很高兴认识你！",0)
+    time.sleep(8)
+    audio_client.TtsMaker("接下来测试灯带开发例程！",0)
+    time.sleep(1)
+    audio_client.LedControl(255,0,0)
+    time.sleep(1)
+    audio_client.LedControl(0,255,0)
+    time.sleep(1)
+    audio_client.LedControl(0,0,255)
+    time.sleep(3)
+    audio_client.TtsMaker("测试完毕，谢谢大家！",0)

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/g1/high_level/g1_arm5_sdk_dds_example.py ADDED Viewed

	@@ -0,0 +1,192 @@

+import time
+import sys
+from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize
+from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
+from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowCmd_
+from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowState_
+from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowCmd_
+from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowState_
+from unitree_sdk2py.utils.crc import CRC
+from unitree_sdk2py.utils.thread import RecurrentThread
+from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import MotionSwitcherClient
+import numpy as np
+kPi = 3.141592654
+kPi_2 = 1.57079632
+class G1JointIndex:
+    # Left leg
+    LeftHipPitch = 0
+    LeftHipRoll = 1
+    LeftHipYaw = 2
+    LeftKnee = 3
+    LeftAnklePitch = 4
+    LeftAnkleB = 4
+    LeftAnkleRoll = 5
+    LeftAnkleA = 5
+    # Right leg
+    RightHipPitch = 6
+    RightHipRoll = 7
+    RightHipYaw = 8
+    RightKnee = 9
+    RightAnklePitch = 10
+    RightAnkleB = 10
+    RightAnkleRoll = 11
+    RightAnkleA = 11
+    WaistYaw = 12
+    WaistRoll = 13        # NOTE: INVALID for g1 23dof/29dof with waist locked
+    WaistA = 13           # NOTE: INVALID for g1 23dof/29dof with waist locked
+    WaistPitch = 14       # NOTE: INVALID for g1 23dof/29dof with waist locked
+    WaistB = 14           # NOTE: INVALID for g1 23dof/29dof with waist locked
+    # Left arm
+    LeftShoulderPitch = 15
+    LeftShoulderRoll = 16
+    LeftShoulderYaw = 17
+    LeftElbow = 18
+    LeftWristRoll = 19
+    LeftWristPitch = 20   # NOTE: INVALID for g1 23dof
+    LeftWristYaw = 21     # NOTE: INVALID for g1 23dof
+    # Right arm
+    RightShoulderPitch = 22
+    RightShoulderRoll = 23
+    RightShoulderYaw = 24
+    RightElbow = 25
+    RightWristRoll = 26
+    RightWristPitch = 27  # NOTE: INVALID for g1 23dof
+    RightWristYaw = 28    # NOTE: INVALID for g1 23dof
+    kNotUsedJoint = 29 # NOTE: Weight
+class Custom:
+    def __init__(self):
+        self.time_ = 0.0
+        self.control_dt_ = 0.02
+        self.duration_ = 3.0
+        self.counter_ = 0
+        self.weight = 0.
+        self.weight_rate = 0.2
+        self.kp = 60.
+        self.kd = 1.5
+        self.dq = 0.
+        self.tau_ff = 0.
+        self.mode_machine_ = 0
+        self.low_cmd = unitree_hg_msg_dds__LowCmd_()
+        self.low_state = None
+        self.first_update_low_state = False
+        self.crc = CRC()
+        self.done = False
+        self.target_pos = [
+            0.0,      kPi_2,  0.0,    kPi_2,  0.0,
+            0.0,     -kPi_2,  0.0,    kPi_2,  0.0,
+            0.0,      0.0,    0.0
+        ]
+        self.arm_joints = [
+          G1JointIndex.LeftShoulderPitch,  G1JointIndex.LeftShoulderRoll,
+          G1JointIndex.LeftShoulderYaw,    G1JointIndex.LeftElbow,
+          G1JointIndex.LeftWristRoll,
+          G1JointIndex.RightShoulderPitch, G1JointIndex.RightShoulderRoll,
+          G1JointIndex.RightShoulderYaw,   G1JointIndex.RightElbow,
+          G1JointIndex.RightWristRoll,
+          G1JointIndex.WaistYaw,
+          G1JointIndex.WaistRoll,
+          G1JointIndex.WaistPitch
+        ]
+    def Init(self):
+        # create publisher #
+        self.arm_sdk_publisher = ChannelPublisher("rt/arm_sdk", LowCmd_)
+        self.arm_sdk_publisher.Init()
+        # create subscriber #
+        self.lowstate_subscriber = ChannelSubscriber("rt/lowstate", LowState_)
+        self.lowstate_subscriber.Init(self.LowStateHandler, 10)
+    def Start(self):
+        self.lowCmdWriteThreadPtr = RecurrentThread(
+            interval=self.control_dt_, target=self.LowCmdWrite, name="control"
+        )
+        while self.first_update_low_state == False:
+            time.sleep(1)
+        if self.first_update_low_state == True:
+            self.lowCmdWriteThreadPtr.Start()
+    def LowStateHandler(self, msg: LowState_):
+        self.low_state = msg
+        if self.first_update_low_state == False:
+            self.first_update_low_state = True
+    def LowCmdWrite(self):
+        self.time_ += self.control_dt_
+        if self.time_ < self.duration_ :
+          # [Stage 1]: set robot to zero posture
+          self.low_cmd.motor_cmd[G1JointIndex.kNotUsedJoint].q =  1 # 1:Enable arm_sdk, 0:Disable arm_sdk
+          for i,joint in enumerate(self.arm_joints):
+            ratio = np.clip(self.time_ / self.duration_, 0.0, 1.0)
+            self.low_cmd.motor_cmd[joint].tau = 0.
+            self.low_cmd.motor_cmd[joint].q = (1.0 - ratio) * self.low_state.motor_state[joint].q
+            self.low_cmd.motor_cmd[joint].dq = 0.
+            self.low_cmd.motor_cmd[joint].kp = self.kp
+            self.low_cmd.motor_cmd[joint].kd = self.kd
+        elif self.time_ < self.duration_ * 3 :
+          # [Stage 2]: lift arms up
+          for i,joint in enumerate(self.arm_joints):
+              ratio = np.clip((self.time_ - self.duration_) / (self.duration_ * 2), 0.0, 1.0)
+              self.low_cmd.motor_cmd[joint].tau = 0.
+              self.low_cmd.motor_cmd[joint].q = ratio * self.target_pos[i] + (1.0 - ratio) * self.low_state.motor_state[joint].q
+              self.low_cmd.motor_cmd[joint].dq = 0.
+              self.low_cmd.motor_cmd[joint].kp = self.kp
+              self.low_cmd.motor_cmd[joint].kd = self.kd
+        elif self.time_ < self.duration_ * 6 :
+          # [Stage 3]: set robot back to zero posture
+          for i,joint in enumerate(self.arm_joints):
+              ratio = np.clip((self.time_ - self.duration_*3) / (self.duration_ * 3), 0.0, 1.0)
+              self.low_cmd.motor_cmd[joint].tau = 0.
+              self.low_cmd.motor_cmd[joint].q = (1.0 - ratio) * self.low_state.motor_state[joint].q
+              self.low_cmd.motor_cmd[joint].dq = 0.
+              self.low_cmd.motor_cmd[joint].kp = self.kp
+              self.low_cmd.motor_cmd[joint].kd = self.kd
+        elif self.time_ < self.duration_ * 7 :
+          # [Stage 4]: release arm_sdk
+          for i,joint in enumerate(self.arm_joints):
+              ratio = np.clip((self.time_ - self.duration_*6) / (self.duration_), 0.0, 1.0)
+              self.low_cmd.motor_cmd[G1JointIndex.kNotUsedJoint].q =  (1 - ratio) # 1:Enable arm_sdk, 0:Disable arm_sdk
+        else:
+            self.done = True
+        self.low_cmd.crc = self.crc.Crc(self.low_cmd)
+        self.arm_sdk_publisher.Write(self.low_cmd)
+if __name__ == '__main__':
+    print("WARNING: Please ensure there are no obstacles around the robot while running this example.")
+    input("Press Enter to continue...")
+    if len(sys.argv)>1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+    custom = Custom()
+    custom.Init()
+    custom.Start()
+    while True:
+        time.sleep(1)
+        if custom.done:
+           print("Done!")
+           sys.exit(-1)

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/g1/high_level/g1_arm7_sdk_dds_example.py ADDED Viewed

	@@ -0,0 +1,194 @@

+import time
+import sys
+from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize
+from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
+from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowCmd_
+from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowState_
+from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowCmd_
+from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowState_
+from unitree_sdk2py.utils.crc import CRC
+from unitree_sdk2py.utils.thread import RecurrentThread
+from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import MotionSwitcherClient
+import numpy as np
+kPi = 3.141592654
+kPi_2 = 1.57079632
+class G1JointIndex:
+    # Left leg
+    LeftHipPitch = 0
+    LeftHipRoll = 1
+    LeftHipYaw = 2
+    LeftKnee = 3
+    LeftAnklePitch = 4
+    LeftAnkleB = 4
+    LeftAnkleRoll = 5
+    LeftAnkleA = 5
+    # Right leg
+    RightHipPitch = 6
+    RightHipRoll = 7
+    RightHipYaw = 8
+    RightKnee = 9
+    RightAnklePitch = 10
+    RightAnkleB = 10
+    RightAnkleRoll = 11
+    RightAnkleA = 11
+    WaistYaw = 12
+    WaistRoll = 13        # NOTE: INVALID for g1 23dof/29dof with waist locked
+    WaistA = 13           # NOTE: INVALID for g1 23dof/29dof with waist locked
+    WaistPitch = 14       # NOTE: INVALID for g1 23dof/29dof with waist locked
+    WaistB = 14           # NOTE: INVALID for g1 23dof/29dof with waist locked
+    # Left arm
+    LeftShoulderPitch = 15
+    LeftShoulderRoll = 16
+    LeftShoulderYaw = 17
+    LeftElbow = 18
+    LeftWristRoll = 19
+    LeftWristPitch = 20   # NOTE: INVALID for g1 23dof
+    LeftWristYaw = 21     # NOTE: INVALID for g1 23dof
+    # Right arm
+    RightShoulderPitch = 22
+    RightShoulderRoll = 23
+    RightShoulderYaw = 24
+    RightElbow = 25
+    RightWristRoll = 26
+    RightWristPitch = 27  # NOTE: INVALID for g1 23dof
+    RightWristYaw = 28    # NOTE: INVALID for g1 23dof
+    kNotUsedJoint = 29 # NOTE: Weight
+class Custom:
+    def __init__(self):
+        self.time_ = 0.0
+        self.control_dt_ = 0.02
+        self.duration_ = 3.0
+        self.counter_ = 0
+        self.weight = 0.
+        self.weight_rate = 0.2
+        self.kp = 60.
+        self.kd = 1.5
+        self.dq = 0.
+        self.tau_ff = 0.
+        self.mode_machine_ = 0
+        self.low_cmd = unitree_hg_msg_dds__LowCmd_()
+        self.low_state = None
+        self.first_update_low_state = False
+        self.crc = CRC()
+        self.done = False
+        self.target_pos = [
+            0., kPi_2,  0., kPi_2, 0., 0., 0.,
+            0., -kPi_2, 0., kPi_2, 0., 0., 0.,
+            0, 0, 0
+        ]
+        self.arm_joints = [
+          G1JointIndex.LeftShoulderPitch,  G1JointIndex.LeftShoulderRoll,
+          G1JointIndex.LeftShoulderYaw,    G1JointIndex.LeftElbow,
+          G1JointIndex.LeftWristRoll,      G1JointIndex.LeftWristPitch,
+          G1JointIndex.LeftWristYaw,
+          G1JointIndex.RightShoulderPitch, G1JointIndex.RightShoulderRoll,
+          G1JointIndex.RightShoulderYaw,   G1JointIndex.RightElbow,
+          G1JointIndex.RightWristRoll,     G1JointIndex.RightWristPitch,
+          G1JointIndex.RightWristYaw,
+          G1JointIndex.WaistYaw,
+          G1JointIndex.WaistRoll,
+          G1JointIndex.WaistPitch
+        ]
+    def Init(self):
+        # create publisher #
+        self.arm_sdk_publisher = ChannelPublisher("rt/arm_sdk", LowCmd_)
+        self.arm_sdk_publisher.Init()
+        # create subscriber #
+        self.lowstate_subscriber = ChannelSubscriber("rt/lowstate", LowState_)
+        self.lowstate_subscriber.Init(self.LowStateHandler, 10)
+    def Start(self):
+        self.lowCmdWriteThreadPtr = RecurrentThread(
+            interval=self.control_dt_, target=self.LowCmdWrite, name="control"
+        )
+        while self.first_update_low_state == False:
+            time.sleep(1)
+        if self.first_update_low_state == True:
+            self.lowCmdWriteThreadPtr.Start()
+    def LowStateHandler(self, msg: LowState_):
+        self.low_state = msg
+        if self.first_update_low_state == False:
+            self.first_update_low_state = True
+    def LowCmdWrite(self):
+        self.time_ += self.control_dt_
+        if self.time_ < self.duration_ :
+          # [Stage 1]: set robot to zero posture
+          self.low_cmd.motor_cmd[G1JointIndex.kNotUsedJoint].q =  1 # 1:Enable arm_sdk, 0:Disable arm_sdk
+          for i,joint in enumerate(self.arm_joints):
+            ratio = np.clip(self.time_ / self.duration_, 0.0, 1.0)
+            self.low_cmd.motor_cmd[joint].tau = 0.
+            self.low_cmd.motor_cmd[joint].q = (1.0 - ratio) * self.low_state.motor_state[joint].q
+            self.low_cmd.motor_cmd[joint].dq = 0.
+            self.low_cmd.motor_cmd[joint].kp = self.kp
+            self.low_cmd.motor_cmd[joint].kd = self.kd
+        elif self.time_ < self.duration_ * 3 :
+          # [Stage 2]: lift arms up
+          for i,joint in enumerate(self.arm_joints):
+              ratio = np.clip((self.time_ - self.duration_) / (self.duration_ * 2), 0.0, 1.0)
+              self.low_cmd.motor_cmd[joint].tau = 0.
+              self.low_cmd.motor_cmd[joint].q = ratio * self.target_pos[i] + (1.0 - ratio) * self.low_state.motor_state[joint].q
+              self.low_cmd.motor_cmd[joint].dq = 0.
+              self.low_cmd.motor_cmd[joint].kp = self.kp
+              self.low_cmd.motor_cmd[joint].kd = self.kd
+        elif self.time_ < self.duration_ * 6 :
+          # [Stage 3]: set robot back to zero posture
+          for i,joint in enumerate(self.arm_joints):
+              ratio = np.clip((self.time_ - self.duration_*3) / (self.duration_ * 3), 0.0, 1.0)
+              self.low_cmd.motor_cmd[joint].tau = 0.
+              self.low_cmd.motor_cmd[joint].q = (1.0 - ratio) * self.low_state.motor_state[joint].q
+              self.low_cmd.motor_cmd[joint].dq = 0.
+              self.low_cmd.motor_cmd[joint].kp = self.kp
+              self.low_cmd.motor_cmd[joint].kd = self.kd
+        elif self.time_ < self.duration_ * 7 :
+          # [Stage 4]: release arm_sdk
+          for i,joint in enumerate(self.arm_joints):
+              ratio = np.clip((self.time_ - self.duration_*6) / (self.duration_), 0.0, 1.0)
+              self.low_cmd.motor_cmd[G1JointIndex.kNotUsedJoint].q =  (1 - ratio) # 1:Enable arm_sdk, 0:Disable arm_sdk
+        else:
+            self.done = True
+        self.low_cmd.crc = self.crc.Crc(self.low_cmd)
+        self.arm_sdk_publisher.Write(self.low_cmd)
+if __name__ == '__main__':
+    print("WARNING: Please ensure there are no obstacles around the robot while running this example.")
+    input("Press Enter to continue...")
+    if len(sys.argv)>1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+    custom = Custom()
+    custom.Init()
+    custom.Start()
+    while True:
+        time.sleep(1)
+        if custom.done:
+           print("Done!")
+           sys.exit(-1)

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/g1/high_level/g1_loco_client_example.py ADDED Viewed

	@@ -0,0 +1,117 @@

+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.g1.loco.g1_loco_client import LocoClient
+import math
+from dataclasses import dataclass
+@dataclass
+class TestOption:
+    name: str
+    id: int
+option_list = [
+    TestOption(name="damp", id=0),
+    TestOption(name="Squat2StandUp", id=1),
+    TestOption(name="StandUp2Squat", id=2),
+    TestOption(name="move forward", id=3),
+    TestOption(name="move lateral", id=4),
+    TestOption(name="move rotate", id=5),
+    TestOption(name="low stand", id=6),
+    TestOption(name="high stand", id=7),
+    TestOption(name="zero torque", id=8),
+    TestOption(name="wave hand1", id=9), # wave hand without turning around
+    TestOption(name="wave hand2", id=10), # wave hand and trun around
+    TestOption(name="shake hand", id=11),
+    TestOption(name="Lie2StandUp", id=12),
+]
+class UserInterface:
+    def __init__(self):
+        self.test_option_ = None
+    def convert_to_int(self, input_str):
+        try:
+            return int(input_str)
+        except ValueError:
+            return None
+    def terminal_handle(self):
+        input_str = input("Enter id or name: \n")
+        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}")
+            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}")
+                return
+        print("No matching test option found.")
+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])
+    test_option = TestOption(name=None, id=None)
+    user_interface = UserInterface()
+    user_interface.test_option_ = test_option
+    sport_client = LocoClient()
+    sport_client.SetTimeout(10.0)
+    sport_client.Init()
+    print("Input \"list\" to list all test option ...")
+    while True:
+        user_interface.terminal_handle()
+        print(f"Updated Test Option: Name = {test_option.name}, ID = {test_option.id}")
+        if test_option.id == 0:
+            sport_client.Damp()
+        elif test_option.id == 1:
+            sport_client.Damp()
+            time.sleep(0.5)
+            sport_client.Squat2StandUp()
+        elif test_option.id == 2:
+            sport_client.StandUp2Squat()
+        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(0,0,0.3)
+        elif test_option.id == 6:
+            sport_client.LowStand()
+        elif test_option.id == 7:
+            sport_client.HighStand()
+        elif test_option.id == 8:
+            sport_client.ZeroTorque()
+        elif test_option.id == 9:
+            sport_client.WaveHand()
+        elif test_option.id == 10:
+            sport_client.WaveHand(True)
+        elif test_option.id == 11:
+            sport_client.ShakeHand()
+            time.sleep(3)
+            sport_client.ShakeHand()
+        elif test_option.id == 12:
+            sport_client.Damp()
+            time.sleep(0.5)
+            sport_client.Lie2StandUp() # When using the Lie2StandUp function, ensure that the robot faces up and the ground is hard, flat and rough.
+        time.sleep(1)

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/g1/low_level/g1_low_level_example.py ADDED Viewed

	@@ -0,0 +1,205 @@

+import time
+import sys
+from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize
+from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
+from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowCmd_
+from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowState_
+from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowCmd_
+from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowState_
+from unitree_sdk2py.utils.crc import CRC
+from unitree_sdk2py.utils.thread import RecurrentThread
+from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import MotionSwitcherClient
+import numpy as np
+G1_NUM_MOTOR = 29
+Kp = [
+    60, 60, 60, 100, 40, 40,      # legs
+    60, 60, 60, 100, 40, 40,      # legs
+    60, 40, 40,                   # waist
+    40, 40, 40, 40,  40, 40, 40,  # arms
+    40, 40, 40, 40,  40, 40, 40   # arms
+]
+Kd = [
+    1, 1, 1, 2, 1, 1,     # legs
+    1, 1, 1, 2, 1, 1,     # legs
+    1, 1, 1,              # waist
+    1, 1, 1, 1, 1, 1, 1,  # arms
+    1, 1, 1, 1, 1, 1, 1   # arms
+]
+class G1JointIndex:
+    LeftHipPitch = 0
+    LeftHipRoll = 1
+    LeftHipYaw = 2
+    LeftKnee = 3
+    LeftAnklePitch = 4
+    LeftAnkleB = 4
+    LeftAnkleRoll = 5
+    LeftAnkleA = 5
+    RightHipPitch = 6
+    RightHipRoll = 7
+    RightHipYaw = 8
+    RightKnee = 9
+    RightAnklePitch = 10
+    RightAnkleB = 10
+    RightAnkleRoll = 11
+    RightAnkleA = 11
+    WaistYaw = 12
+    WaistRoll = 13        # NOTE: INVALID for g1 23dof/29dof with waist locked
+    WaistA = 13           # NOTE: INVALID for g1 23dof/29dof with waist locked
+    WaistPitch = 14       # NOTE: INVALID for g1 23dof/29dof with waist locked
+    WaistB = 14           # NOTE: INVALID for g1 23dof/29dof with waist locked
+    LeftShoulderPitch = 15
+    LeftShoulderRoll = 16
+    LeftShoulderYaw = 17
+    LeftElbow = 18
+    LeftWristRoll = 19
+    LeftWristPitch = 20   # NOTE: INVALID for g1 23dof
+    LeftWristYaw = 21     # NOTE: INVALID for g1 23dof
+    RightShoulderPitch = 22
+    RightShoulderRoll = 23
+    RightShoulderYaw = 24
+    RightElbow = 25
+    RightWristRoll = 26
+    RightWristPitch = 27  # NOTE: INVALID for g1 23dof
+    RightWristYaw = 28    # NOTE: INVALID for g1 23dof
+class Mode:
+    PR = 0  # Series Control for Pitch/Roll Joints
+    AB = 1  # Parallel Control for A/B Joints
+class Custom:
+    def __init__(self):
+        self.time_ = 0.0
+        self.control_dt_ = 0.002  # [2ms]
+        self.duration_ = 3.0    # [3 s]
+        self.counter_ = 0
+        self.mode_pr_ = Mode.PR
+        self.mode_machine_ = 0
+        self.low_cmd = unitree_hg_msg_dds__LowCmd_()
+        self.low_state = None
+        self.update_mode_machine_ = False
+        self.crc = CRC()
+    def Init(self):
+        self.msc = MotionSwitcherClient()
+        self.msc.SetTimeout(5.0)
+        self.msc.Init()
+        status, result = self.msc.CheckMode()
+        while result['name']:
+            self.msc.ReleaseMode()
+            status, result = self.msc.CheckMode()
+            time.sleep(1)
+        # create publisher #
+        self.lowcmd_publisher_ = ChannelPublisher("rt/lowcmd", LowCmd_)
+        self.lowcmd_publisher_.Init()
+        # create subscriber #
+        self.lowstate_subscriber = ChannelSubscriber("rt/lowstate", LowState_)
+        self.lowstate_subscriber.Init(self.LowStateHandler, 10)
+    def Start(self):
+        self.lowCmdWriteThreadPtr = RecurrentThread(
+            interval=self.control_dt_, target=self.LowCmdWrite, name="control"
+        )
+        while self.update_mode_machine_ == False:
+            time.sleep(1)
+        if self.update_mode_machine_ == True:
+            self.lowCmdWriteThreadPtr.Start()
+    def LowStateHandler(self, msg: LowState_):
+        self.low_state = msg
+        if self.update_mode_machine_ == False:
+            self.mode_machine_ = self.low_state.mode_machine
+            self.update_mode_machine_ = True
+        self.counter_ +=1
+        if (self.counter_ % 500 == 0) :
+            self.counter_ = 0
+            print(self.low_state.imu_state.rpy)
+    def LowCmdWrite(self):
+        self.time_ += self.control_dt_
+        if self.time_ < self.duration_ :
+            # [Stage 1]: set robot to zero posture
+            for i in range(G1_NUM_MOTOR):
+                ratio = np.clip(self.time_ / self.duration_, 0.0, 1.0)
+                self.low_cmd.mode_pr = Mode.PR
+                self.low_cmd.mode_machine = self.mode_machine_
+                self.low_cmd.motor_cmd[i].mode =  1 # 1:Enable, 0:Disable
+                self.low_cmd.motor_cmd[i].tau = 0.
+                self.low_cmd.motor_cmd[i].q = (1.0 - ratio) * self.low_state.motor_state[i].q
+                self.low_cmd.motor_cmd[i].dq = 0.
+                self.low_cmd.motor_cmd[i].kp = Kp[i]
+                self.low_cmd.motor_cmd[i].kd = Kd[i]
+        elif self.time_ < self.duration_ * 2 :
+            # [Stage 2]: swing ankle using PR mode
+            max_P = np.pi * 30.0 / 180.0
+            max_R = np.pi * 10.0 / 180.0
+            t = self.time_ - self.duration_
+            L_P_des = max_P * np.sin(2.0 * np.pi * t)
+            L_R_des = max_R * np.sin(2.0 * np.pi * t)
+            R_P_des = max_P * np.sin(2.0 * np.pi * t)
+            R_R_des = -max_R * np.sin(2.0 * np.pi * t)
+            self.low_cmd.mode_pr = Mode.PR
+            self.low_cmd.mode_machine = self.mode_machine_
+            self.low_cmd.motor_cmd[G1JointIndex.LeftAnklePitch].q = L_P_des
+            self.low_cmd.motor_cmd[G1JointIndex.LeftAnkleRoll].q = L_R_des
+            self.low_cmd.motor_cmd[G1JointIndex.RightAnklePitch].q = R_P_des
+            self.low_cmd.motor_cmd[G1JointIndex.RightAnkleRoll].q = R_R_des
+        else :
+            # [Stage 3]: swing ankle using AB mode
+            max_A = np.pi * 30.0 / 180.0
+            max_B = np.pi * 10.0 / 180.0
+            t = self.time_ - self.duration_ * 2
+            L_A_des = max_A * np.sin(2.0 * np.pi * t)
+            L_B_des = max_B * np.sin(2.0 * np.pi * t + np.pi)
+            R_A_des = -max_A * np.sin(2.0 * np.pi * t)
+            R_B_des = -max_B * np.sin(2.0 * np.pi * t + np.pi)
+            self.low_cmd.mode_pr = Mode.AB
+            self.low_cmd.mode_machine = self.mode_machine_
+            self.low_cmd.motor_cmd[G1JointIndex.LeftAnkleA].q = L_A_des
+            self.low_cmd.motor_cmd[G1JointIndex.LeftAnkleB].q = L_B_des
+            self.low_cmd.motor_cmd[G1JointIndex.RightAnkleA].q = R_A_des
+            self.low_cmd.motor_cmd[G1JointIndex.RightAnkleB].q = R_B_des
+            max_WristYaw = np.pi * 30.0 / 180.0
+            L_WristYaw_des = max_WristYaw * np.sin(2.0 * np.pi * t)
+            R_WristYaw_des = max_WristYaw * np.sin(2.0 * np.pi * t)
+            self.low_cmd.motor_cmd[G1JointIndex.LeftWristRoll].q = L_WristYaw_des
+            self.low_cmd.motor_cmd[G1JointIndex.RightWristRoll].q = R_WristYaw_des
+        self.low_cmd.crc = self.crc.Crc(self.low_cmd)
+        self.lowcmd_publisher_.Write(self.low_cmd)
+if __name__ == '__main__':
+    print("WARNING: Please ensure there are no obstacles around the robot while running this example.")
+    input("Press Enter to continue...")
+    if len(sys.argv)>1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+    custom = Custom()
+    custom.Init()
+    custom.Start()
+    while True:
+        time.sleep(1)

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/g1/low_level/g1_move_hands_example.py ADDED Viewed

	@@ -0,0 +1,225 @@

+import time
+import sys
+import numpy as np
+from unitree_sdk2py.core.channel import ChannelPublisher, ChannelSubscriber, ChannelFactoryInitialize
+from unitree_sdk2py.idl.unitree_hg.msg.dds_ import HandCmd_, HandState_
+from unitree_sdk2py.idl.default import unitree_hg_msg_dds__HandCmd_
+from unitree_sdk2py.utils.crc import CRC
+from unitree_sdk2py.utils.thread import RecurrentThread
+MOTOR_NUM_HAND = 7
+Kp = [0.5] * MOTOR_NUM_HAND
+Kd = [0.1] * MOTOR_NUM_HAND
+Kp[0] = 2.0
+maxTorqueLimits_left = [1.05, 1.05, 1.75, 0.0, 0.0, 0.0, 0.0]
+minTorqueLimits_left = [-1.05, -0.72, 0.0, -1.57, -1.75, -1.57, -1.75]
+maxTorqueLimits_right = [1.05, 0.74, 0.0, 1.57, 1.75, 1.57, 1.75]
+minTorqueLimits_right = [-1.05, -1.05, -1.75, 0.0, 0.0, 0.0, 0.0]
+def make_hand_mode(motor_index):
+    status = 0x01
+    timeout = 0x01
+    mode = (motor_index & 0x0F)
+    mode |= (status << 4)  # bits [4..6]
+    mode |= (timeout << 7)  # bit 7
+    return mode
+class HandControl:
+    def __init__(self, network_interface="enp36s0f1"):
+        ChannelFactoryInitialize(0, network_interface)
+        self.left_cmd_pub = ChannelPublisher("rt/dex3/left/cmd", HandCmd_)
+        self.right_cmd_pub = ChannelPublisher("rt/dex3/right/cmd", HandCmd_)
+        self.left_state_sub = ChannelSubscriber("rt/dex3/left/state", HandState_)
+        self.right_state_sub = ChannelSubscriber("rt/dex3/right/state", HandState_)
+        self.left_cmd_pub.Init()
+        self.right_cmd_pub.Init()
+        self.left_state_sub.Init(self.left_state_handler, 10)
+        self.right_state_sub.Init(self.right_state_handler, 10)
+        self.left_state = None
+        self.right_state = None
+        self.crc = CRC()
+        # Control loop timing
+        self.control_dt = 0.01  # 10 ms
+        self.time_ = 0.0
+        self.stage_time = 3.0  # 3s per stage
+        # To let the code run once we start:
+        self.run_flag = False
+        self.counter = 0
+    def left_state_handler(self, msg: HandState_):
+        self.left_state = msg
+        # self.counter +=1
+        # if (self.counter % 1000 == 0) :
+        #     self.counter = 0
+        #     print('Left hand state:')
+        #     for i in range(MOTOR_NUM_HAND):
+        #         print(180/np.pi*self.left_state.motor_state[i].q)
+    def right_state_handler(self, msg: HandState_):
+        self.right_state = msg
+        self.counter += 1
+        if (self.counter % 1000 == 0):
+            self.counter = 0
+            print('Right hand state:')
+            for i in range(MOTOR_NUM_HAND):
+                print(180 / np.pi * self.right_state.motor_state[i].q)
+    def start(self):
+        """
+        Kick off the main control loop thread.
+        """
+        self.run_flag = True
+        self.control_thread = RecurrentThread(interval=self.control_dt,
+                                              target=self.hand_control_loop,
+                                              name="HandControlLoop")
+        self.control_thread.Start()
+    def hand_control_loop(self):
+        """
+        This gets called at a fixed rate (every self.control_dt seconds).
+        We'll demonstrate 3 stages of motion:
+          1) Move from current position to 'zero' (or some nominal) in 3s
+          2) Sinusoidal motion in stage 2 (3s)
+          3) Another motion in stage 3 (final)
+        """
+        if not self.run_flag:
+            return
+        self.time_ += self.control_dt
+        t = self.time_
+        cmd_left = unitree_hg_msg_dds__HandCmd_()
+        cmd_right = unitree_hg_msg_dds__HandCmd_()
+        # cmd_left.motor_cmd.resize(MOTOR_NUM_HAND)
+        # cmd_right.motor_cmd.resize(MOTOR_NUM_HAND)
+        # Prepare stage times
+        stage1_end = self.stage_time
+        stage2_end = self.stage_time * 2.0
+        # We'll fetch current positions for left and right if available
+        # so we can blend from actual state to zero.
+        # If we haven't gotten a state yet, default to 0.
+        left_q_now = [0.0] * MOTOR_NUM_HAND
+        right_q_now = [0.0] * MOTOR_NUM_HAND
+        if self.left_state is not None:
+            for i in range(MOTOR_NUM_HAND):
+                left_q_now[i] = self.left_state.motor_state[i].q
+        if self.right_state is not None:
+            for i in range(MOTOR_NUM_HAND):
+                right_q_now[i] = self.right_state.motor_state[i].q
+        left_q_desired = np.deg2rad([50.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
+        right_q_desired = np.deg2rad([50.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
+        # Decide the desired position for each stage:
+        if t < stage1_end:
+            # Stage 1: Move from the current joint positions to zero in [0..3s]
+            ratio = np.clip(t / stage1_end, 0.0, 1.0)
+            # Simple linear blend: final = (1-ratio)*initial + ratio*0
+            left_q_des = np.zeros(MOTOR_NUM_HAND)
+            right_q_des = np.zeros(MOTOR_NUM_HAND)
+            for i in range(MOTOR_NUM_HAND):
+                left_q_des[i] = (1.0 - ratio) * (left_q_now[i] - left_q_desired[i]) + left_q_desired[i]
+                right_q_des[i] = (1.0 - ratio) * (right_q_now[i] - right_q_desired[i]) + right_q_desired[i]
+        else:
+            # Stage 2: Some sinusoidal wave
+            # We'll wave only the first 2 or 3 motors, just as a demo
+            dt2 = t - stage1_end
+            freq = 1.0  # 1 Hz
+            amp = 0.3  # ~ 0.3 rad amplitude
+            left_q_des = left_q_desired
+            right_q_des = right_q_desired
+            # E.g. wave motor 0 and 1:
+            left_q_des[0] += amp * np.sin(2 * np.pi * freq * dt2)
+            left_q_des[1] += amp * (1 - np.cos(2 * np.pi * freq * dt2))
+            left_q_des[2] += amp * (1 - np.cos(2 * np.pi * freq * dt2))
+            right_q_des[0] += amp * np.sin(2 * np.pi * freq * dt2)
+            right_q_des[1] += amp * (np.cos(2 * np.pi * freq * dt2) - 1)
+            right_q_des[2] += amp * (np.cos(2 * np.pi * freq * dt2) - 1)
+            freqA = 2.0
+            freqB = 2.0
+            ampA = 0.2
+            ampB = 0.4
+            left_q_des[3] += ampA * (np.cos(2 * np.pi * freqA * dt2) - 1)
+            left_q_des[4] += ampB * (np.cos(2 * np.pi * freqB * dt2) - 1)
+            left_q_des[5] += ampA * (np.cos(2 * np.pi * freqA * dt2) - 1)
+            left_q_des[6] += ampB * (np.cos(2 * np.pi * freqB * dt2) - 1)
+            right_q_des[3] += ampA * (1 - np.cos(2 * np.pi * freqA * dt2))
+            right_q_des[4] += ampB * (1 - np.cos(2 * np.pi * freqB * dt2))
+            right_q_des[5] += ampA * (1 - np.cos(2 * np.pi * freqA * dt2))
+            right_q_des[6] += ampB * (1 - np.cos(2 * np.pi * freqB * dt2))
+        # Fill in the commands
+        for i in range(MOTOR_NUM_HAND):
+            # Build the bitfield mode (see your C++ example)
+            mode_val = make_hand_mode(i)
+            # Left
+            cmd_left.motor_cmd[i].mode = mode_val
+            cmd_left.motor_cmd[i].q = left_q_des[i]
+            cmd_left.motor_cmd[i].dq = 0.0
+            cmd_left.motor_cmd[i].tau = 0.0
+            cmd_left.motor_cmd[i].kp = Kp[i]
+            cmd_left.motor_cmd[i].kd = Kd[i]
+            # Right
+            cmd_right.motor_cmd[i].mode = mode_val
+            cmd_right.motor_cmd[i].q = right_q_des[i]
+            cmd_right.motor_cmd[i].dq = 0.0
+            cmd_right.motor_cmd[i].tau = 0.0
+            cmd_right.motor_cmd[i].kp = Kp[i]
+            cmd_right.motor_cmd[i].kd = Kd[i]
+        # Compute CRC if your firmware requires it
+        # cmd_left.crc  = self.crc.Crc(cmd_left)
+        # cmd_right.crc = self.crc.Crc(cmd_right)
+        # Publish
+        self.left_cmd_pub.Write(cmd_left)
+        self.right_cmd_pub.Write(cmd_right)
+if __name__ == "__main__":
+    print("WARNING: Make sure your robot’s hands can move freely before running.")
+    input("Press Enter to continue...")
+    # Optionally pass a specific interface name, e.g. "enp37s0f0" or "eth0"
+    if len(sys.argv) > 1:
+        net_if = sys.argv[1]
+    else:
+        net_if = "enp36s0f1"
+    # Create and start
+    hand_control = HandControl(network_interface=net_if)
+    hand_control.start()
+    # Just wait
+    while True:
+        time.sleep(1)

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/g1/readme.md ADDED Viewed

	@@ -0,0 +1,5 @@

+This example is a test of Unitree G1/H1-2 robot.
+**Note:**
+idl/unitree_go is used for Unitree Go2/B2/H1/B2w/Go2w robots
+idl/unitree_hg is used for Unitree G1/H1-2 robots

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/go2/front_camera/camera_opencv.py ADDED Viewed

	@@ -0,0 +1,41 @@

+from unitree_sdk2py.core.channel import ChannelFactoryInitialize
+from unitree_sdk2py.go2.video.video_client import VideoClient
+import cv2
+import numpy as np
+import sys
+if __name__ == "__main__":
+    if len(sys.argv)>1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+    client = VideoClient()  # Create a video client
+    client.SetTimeout(3.0)
+    client.Init()
+    code, data = client.GetImageSample()
+    # Request normal when code==0
+    while code == 0:
+        # Get Image data from Go2 robot
+        code, data = client.GetImageSample()
+        # Convert to numpy image
+        image_data = np.frombuffer(bytes(data), dtype=np.uint8)
+        image = cv2.imdecode(image_data, cv2.IMREAD_COLOR)
+        # Display image
+        cv2.imshow("front_camera", image)
+        # Press ESC to stop
+        if cv2.waitKey(20) == 27:
+            break
+    if code != 0:
+        print("Get image sample error. code:", code)
+    else:
+        # Capture an image
+        cv2.imwrite("front_image.jpg", image)
+    cv2.destroyWindow("front_camera")

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/go2/front_camera/capture_image.py ADDED Viewed

	@@ -0,0 +1,30 @@

+import time
+import os
+import sys
+from unitree_sdk2py.core.channel import ChannelFactoryInitialize
+from unitree_sdk2py.go2.video.video_client import VideoClient
+if __name__ == "__main__":
+    if len(sys.argv)>1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+    client = VideoClient()
+    client.SetTimeout(3.0)
+    client.Init()
+    print("##################GetImageSample###################")
+    code, data = client.GetImageSample()
+    if code != 0:
+        print("get image sample error. code:", code)
+    else:
+        imageName = "./img.jpg"
+        print("ImageName:", imageName)
+        with open(imageName, "+wb") as f:
+            f.write(bytes(data))
+    time.sleep(1)

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/go2/high_level/go2_sport_client.py ADDED Viewed

	@@ -0,0 +1,170 @@

+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
+@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)
+]
+class UserInterface:
+    def __init__(self):
+        self.test_option_ = None
+    def convert_to_int(self, input_str):
+        try:
+            return int(input_str)
+        except ValueError:
+            return None
+    def terminal_handle(self):
+        input_str = input("Enter id or name: \n")
+        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}")
+            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}")
+                return
+        print("No matching test option found.")
+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])
+    test_option = TestOption(name=None, id=None)
+    user_interface = UserInterface()
+    user_interface.test_option_ = test_option
+    sport_client = SportClient()
+    sport_client.SetTimeout(10.0)
+    sport_client.Init()
+    while True:
+        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)
+        time.sleep(1)

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/go2/high_level/go2_utlidar_switch.py ADDED Viewed

	@@ -0,0 +1,39 @@

+import time
+import sys
+from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize
+from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
+from unitree_sdk2py.idl.std_msgs.msg.dds_ import String_
+from unitree_sdk2py.idl.default import std_msgs_msg_dds__String_
+class Custom:
+    def __init__(self):
+        # create publisher #
+        self.publisher = ChannelPublisher("rt/utlidar/switch", String_)
+        self.publisher.Init()
+        self.low_cmd = std_msgs_msg_dds__String_()
+    def go2_utlidar_switch(self,status):
+        if status == "OFF":
+            self.low_cmd.data = "OFF"
+        elif status == "ON":
+            self.low_cmd.data = "ON"
+        self.publisher.Write(self.low_cmd)
+if __name__ == '__main__':
+    print("WARNING: Please ensure there are no obstacles around the robot while running this example.")
+    input("Press Enter to continue...")
+    if len(sys.argv)>1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+    custom = Custom()
+    custom.go2_utlidar_switch("OFF")

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/go2/low_level/go2_stand_example.py ADDED Viewed

	@@ -0,0 +1,176 @@

+import time
+import sys
+from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize
+from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
+from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowCmd_
+from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowState_
+from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowCmd_
+from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowState_
+from unitree_sdk2py.utils.crc import CRC
+from unitree_sdk2py.utils.thread import RecurrentThread
+import unitree_legged_const as go2
+from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import MotionSwitcherClient
+from unitree_sdk2py.go2.sport.sport_client import SportClient
+class Custom:
+    def __init__(self):
+        self.Kp = 60.0
+        self.Kd = 5.0
+        self.time_consume = 0
+        self.rate_count = 0
+        self.sin_count = 0
+        self.motiontime = 0
+        self.dt = 0.002  # 0.001~0.01
+        self.low_cmd = unitree_go_msg_dds__LowCmd_()
+        self.low_state = None
+        self._targetPos_1 = [0.0, 1.36, -2.65, 0.0, 1.36, -2.65,
+                             -0.2, 1.36, -2.65, 0.2, 1.36, -2.65]
+        self._targetPos_2 = [0.0, 0.67, -1.3, 0.0, 0.67, -1.3,
+                             0.0, 0.67, -1.3, 0.0, 0.67, -1.3]
+        self._targetPos_3 = [-0.35, 1.36, -2.65, 0.35, 1.36, -2.65,
+                             -0.5, 1.36, -2.65, 0.5, 1.36, -2.65]
+        self.startPos = [0.0] * 12
+        self.duration_1 = 500
+        self.duration_2 = 500
+        self.duration_3 = 1000
+        self.duration_4 = 900
+        self.percent_1 = 0
+        self.percent_2 = 0
+        self.percent_3 = 0
+        self.percent_4 = 0
+        self.firstRun = True
+        self.done = False
+        # thread handling
+        self.lowCmdWriteThreadPtr = None
+        self.crc = CRC()
+    # Public methods
+    def Init(self):
+        self.InitLowCmd()
+        # create publisher #
+        self.lowcmd_publisher = ChannelPublisher("rt/lowcmd", LowCmd_)
+        self.lowcmd_publisher.Init()
+        # create subscriber #
+        self.lowstate_subscriber = ChannelSubscriber("rt/lowstate", LowState_)
+        self.lowstate_subscriber.Init(self.LowStateMessageHandler, 10)
+        self.sc = SportClient()
+        self.sc.SetTimeout(5.0)
+        self.sc.Init()
+        self.msc = MotionSwitcherClient()
+        self.msc.SetTimeout(5.0)
+        self.msc.Init()
+        status, result = self.msc.CheckMode()
+        while result['name']:
+            self.sc.StandDown()
+            self.msc.ReleaseMode()
+            status, result = self.msc.CheckMode()
+            time.sleep(1)
+    def Start(self):
+        self.lowCmdWriteThreadPtr = RecurrentThread(
+            interval=0.002, target=self.LowCmdWrite, name="writebasiccmd"
+        )
+        self.lowCmdWriteThreadPtr.Start()
+    # Private methods
+    def InitLowCmd(self):
+        self.low_cmd.head[0]=0xFE
+        self.low_cmd.head[1]=0xEF
+        self.low_cmd.level_flag = 0xFF
+        self.low_cmd.gpio = 0
+        for i in range(20):
+            self.low_cmd.motor_cmd[i].mode = 0x01  # (PMSM) mode
+            self.low_cmd.motor_cmd[i].q= go2.PosStopF
+            self.low_cmd.motor_cmd[i].kp = 0
+            self.low_cmd.motor_cmd[i].dq = go2.VelStopF
+            self.low_cmd.motor_cmd[i].kd = 0
+            self.low_cmd.motor_cmd[i].tau = 0
+    def LowStateMessageHandler(self, msg: LowState_):
+        self.low_state = msg
+        # print("FR_0 motor state: ", msg.motor_state[go2.LegID["FR_0"]])
+        # print("IMU state: ", msg.imu_state)
+        # print("Battery state: voltage: ", msg.power_v, "current: ", msg.power_a)
+    def LowCmdWrite(self):
+        if self.firstRun:
+            for i in range(12):
+                self.startPos[i] = self.low_state.motor_state[i].q
+            self.firstRun = False
+        self.percent_1 += 1.0 / self.duration_1
+        self.percent_1 = min(self.percent_1, 1)
+        if self.percent_1 < 1:
+            for i in range(12):
+                self.low_cmd.motor_cmd[i].q = (1 - self.percent_1) * self.startPos[i] + self.percent_1 * self._targetPos_1[i]
+                self.low_cmd.motor_cmd[i].dq = 0
+                self.low_cmd.motor_cmd[i].kp = self.Kp
+                self.low_cmd.motor_cmd[i].kd = self.Kd
+                self.low_cmd.motor_cmd[i].tau = 0
+        if (self.percent_1 == 1) and (self.percent_2 <= 1):
+            self.percent_2 += 1.0 / self.duration_2
+            self.percent_2 = min(self.percent_2, 1)
+            for i in range(12):
+                self.low_cmd.motor_cmd[i].q = (1 - self.percent_2) * self._targetPos_1[i] + self.percent_2 * self._targetPos_2[i]
+                self.low_cmd.motor_cmd[i].dq = 0
+                self.low_cmd.motor_cmd[i].kp = self.Kp
+                self.low_cmd.motor_cmd[i].kd = self.Kd
+                self.low_cmd.motor_cmd[i].tau = 0
+        if (self.percent_1 == 1) and (self.percent_2 == 1) and (self.percent_3 < 1):
+            self.percent_3 += 1.0 / self.duration_3
+            self.percent_3 = min(self.percent_3, 1)
+            for i in range(12):
+                self.low_cmd.motor_cmd[i].q = self._targetPos_2[i]
+                self.low_cmd.motor_cmd[i].dq = 0
+                self.low_cmd.motor_cmd[i].kp = self.Kp
+                self.low_cmd.motor_cmd[i].kd = self.Kd
+                self.low_cmd.motor_cmd[i].tau = 0
+        if (self.percent_1 == 1) and (self.percent_2 == 1) and (self.percent_3 == 1) and (self.percent_4 <= 1):
+            self.percent_4 += 1.0 / self.duration_4
+            self.percent_4 = min(self.percent_4, 1)
+            for i in range(12):
+                self.low_cmd.motor_cmd[i].q = (1 - self.percent_4) * self._targetPos_2[i] + self.percent_4 * self._targetPos_3[i]
+                self.low_cmd.motor_cmd[i].dq = 0
+                self.low_cmd.motor_cmd[i].kp = self.Kp
+                self.low_cmd.motor_cmd[i].kd = self.Kd
+                self.low_cmd.motor_cmd[i].tau = 0
+        self.low_cmd.crc = self.crc.Crc(self.low_cmd)
+        self.lowcmd_publisher.Write(self.low_cmd)
+if __name__ == '__main__':
+    print("WARNING: Please ensure there are no obstacles around the robot while running this example.")
+    input("Press Enter to continue...")
+    if len(sys.argv)>1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+    custom = Custom()
+    custom.Init()
+    custom.Start()
+    while True:
+        if custom.percent_4 == 1.0:
+           time.sleep(1)
+           print("Done!")
+           sys.exit(-1)
+        time.sleep(1)

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/go2/low_level/unitree_legged_const.py ADDED Viewed

	@@ -0,0 +1,20 @@

+LegID = {
+    "FR_0": 0,  # Front right hip
+    "FR_1": 1,  # Front right thigh
+    "FR_2": 2,  # Front right calf
+    "FL_0": 3,
+    "FL_1": 4,
+    "FL_2": 5,
+    "RR_0": 6,
+    "RR_1": 7,
+    "RR_2": 8,
+    "RL_0": 9,
+    "RL_1": 10,
+    "RL_2": 11,
+}
+HIGHLEVEL = 0xEE
+LOWLEVEL = 0xFF
+TRIGERLEVEL = 0xF0
+PosStopF = 2.146e9
+VelStopF = 16000.0

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/go2w/high_level/go2w_sport_client.py ADDED Viewed

	@@ -0,0 +1,99 @@

+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
+import math
+from dataclasses import dataclass
+@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", id=3),
+    TestOption(name="stop_move", id=4),
+    TestOption(name="speed_level", id=5),
+    TestOption(name="switch_gait", id=6),
+    TestOption(name="get_state", id=7),
+    TestOption(name="recovery", id=8),
+    TestOption(name="balance", id=9)
+]
+class UserInterface:
+    def __init__(self):
+        self.test_option_ = None
+    def convert_to_int(self, input_str):
+        try:
+            return int(input_str)
+        except ValueError:
+            return None
+    def terminal_handle(self):
+        input_str = input("Enter id or name: \n")
+        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}")
+            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}")
+                return
+        print("No matching test option found.")
+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])
+    test_option = TestOption(name=None, id=None)
+    user_interface = UserInterface()
+    user_interface.test_option_ = test_option
+    sport_client = SportClient()
+    sport_client.SetTimeout(10.0)
+    sport_client.Init()
+    while True:
+        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(0.5,0,0)
+        elif test_option.id == 4:
+            sport_client.StopMove()
+        elif test_option.id == 5:
+            sport_client.SpeedLevel(1)
+        elif test_option.id == 6:
+            sport_client.SwitchGait(1)
+        elif test_option.id == 8:
+            sport_client.RecoveryStand()
+        elif test_option.id == 9:
+            sport_client.BalanceStand()
+        time.sleep(1)

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/go2w/low_level/go2w_stand_example.py ADDED Viewed

	@@ -0,0 +1,196 @@

+import time
+import sys
+from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize
+from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
+from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowCmd_
+from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowState_
+from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowCmd_
+from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowState_
+from unitree_sdk2py.utils.crc import CRC
+from unitree_sdk2py.utils.thread import RecurrentThread
+import unitree_legged_const as go2w
+from unitree_sdk2py.go2.robot_state.robot_state_client import RobotStateClient
+from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import MotionSwitcherClient
+from unitree_sdk2py.go2.sport.sport_client import SportClient
+class Custom:
+    def __init__(self):
+        self.Kp = 70.0
+        self.Kd = 5.0
+        self.time_consume = 0
+        self.rate_count = 0
+        self.sin_count = 0
+        self.motiontime = 0
+        self.dt = 0.002
+        self.low_cmd = unitree_go_msg_dds__LowCmd_()
+        self.low_state = None
+        self.targetPos_1 = [0.0, 1.36, -2.65, 0.0, 1.36, -2.65,
+                             -0.2, 1.36, -2.65, 0.2, 1.36, -2.65]
+        self.targetPos_2 = [0.0, 0.67, -1.3, 0.0, 0.67, -1.3,
+                             0.0, 0.67, -1.3, 0.0, 0.67, -1.3]
+        self.targetPos_3 = [-0.35, 1.36, -2.65, 0.35, 1.36, -2.65,
+                             -0.5, 1.36, -2.65, 0.5, 1.36, -2.65]
+        self.startPos = [0.0] * 12
+        self.duration_1 = 500
+        self.duration_2 = 500
+        self.duration_3 = 2000
+        self.duration_4 = 900
+        self.percent_1 = 0
+        self.percent_2 = 0
+        self.percent_3 = 0
+        self.percent_4 = 0
+        self.firstRun = True
+        self.done = False
+        # thread handling
+        self.lowCmdWriteThreadPtr = None
+        self.crc = CRC()
+    # Public methods
+    def Init(self):
+        self.InitLowCmd()
+        # create publisher #
+        self.lowcmd_publisher = ChannelPublisher("rt/lowcmd", LowCmd_)
+        self.lowcmd_publisher.Init()
+        # create subscriber #
+        self.lowstate_subscriber = ChannelSubscriber("rt/lowstate", LowState_)
+        self.lowstate_subscriber.Init(self.LowStateMessageHandler, 10)
+        self.sc = SportClient()
+        self.sc.SetTimeout(5.0)
+        self.sc.Init()
+        self.msc = MotionSwitcherClient()
+        self.msc.SetTimeout(5.0)
+        self.msc.Init()
+        status, result = self.msc.CheckMode()
+        while result['name']:
+            self.sc.StandUp()
+            self.sc.StandDown()
+            self.msc.ReleaseMode()
+            status, result = self.msc.CheckMode()
+            time.sleep(1)
+    def Start(self):
+        self.lowCmdWriteThreadPtr = RecurrentThread(
+            name="writebasiccmd", interval=0.002, target=self.LowCmdWrite,
+        )
+        self.lowCmdWriteThreadPtr.Start()
+    def InitLowCmd(self):
+        self.low_cmd.head[0] = 0xFE
+        self.low_cmd.head[1] = 0xEF
+        self.low_cmd.level_flag = 0xFF
+        self.low_cmd.gpio = 0
+        for i in range(20):
+            self.low_cmd.motor_cmd[i].mode = 0x01
+            self.low_cmd.motor_cmd[i].q= go2w.PosStopF
+            self.low_cmd.motor_cmd[i].kp = 0
+            self.low_cmd.motor_cmd[i].dq = go2w.VelStopF
+            self.low_cmd.motor_cmd[i].kd = 0
+            self.low_cmd.motor_cmd[i].tau = 0
+    def LowStateMessageHandler(self, msg: LowState_):
+        self.low_state = msg
+    def LowCmdWrite(self):
+        if self.firstRun:
+            for i in range(12):
+                self.startPos[i] = self.low_state.motor_state[i].q
+            self.firstRun = False
+        self.percent_1 += 1.0 / self.duration_1
+        self.percent_1 = min(self.percent_1, 1)
+        if self.percent_1 < 1:
+            for i in range(12):
+                self.low_cmd.motor_cmd[i].q = (1 - self.percent_1) * self.startPos[i] + self.percent_1 * self.targetPos_1[i]
+                self.low_cmd.motor_cmd[i].dq = 0
+                self.low_cmd.motor_cmd[i].kp = self.Kp
+                self.low_cmd.motor_cmd[i].kd = self.Kd
+                self.low_cmd.motor_cmd[i].tau = 0
+        if (self.percent_1 == 1) and (self.percent_2 <= 1):
+            self.percent_2 += 1.0 / self.duration_2
+            self.percent_2 = min(self.percent_2, 1)
+            for i in range(12):
+                self.low_cmd.motor_cmd[i].q = (1 - self.percent_2) * self.targetPos_1[i] + self.percent_2 * self.targetPos_2[i]
+                self.low_cmd.motor_cmd[i].dq = 0
+                self.low_cmd.motor_cmd[i].kp = self.Kp
+                self.low_cmd.motor_cmd[i].kd = self.Kd
+                self.low_cmd.motor_cmd[i].tau = 0
+        if (self.percent_1 == 1) and (self.percent_2 == 1) and (self.percent_3 < 1):
+            self.percent_3 += 1.0 / self.duration_3
+            self.percent_3 = min(self.percent_3, 1)
+            for i in range(12):
+                self.low_cmd.motor_cmd[i].q = self.targetPos_2[i]
+                self.low_cmd.motor_cmd[i].dq = 0
+                self.low_cmd.motor_cmd[i].kp = self.Kp
+                self.low_cmd.motor_cmd[i].kd = self.Kd
+                self.low_cmd.motor_cmd[i].tau = 0
+            if self.percent_3 < 0.4:
+                for i in range(12, 16):
+                    self.low_cmd.motor_cmd[i].q = 0
+                    self.low_cmd.motor_cmd[i].kp = 0.0
+                    self.low_cmd.motor_cmd[i].dq = 3
+                    self.low_cmd.motor_cmd[i].kd = self.Kd
+                    self.low_cmd.motor_cmd[i].tau = 0
+            if 0.4 <= self.percent_3 < 0.8:
+                for i in range(12, 16):
+                    self.low_cmd.motor_cmd[i].q = 0
+                    self.low_cmd.motor_cmd[i].kp = 0
+                    self.low_cmd.motor_cmd[i].dq = -3
+                    self.low_cmd.motor_cmd[i].kd = self.Kd
+                    self.low_cmd.motor_cmd[i].tau = 0
+            if self.percent_3 >= 0.8:
+                for i in range(12, 16):
+                    self.low_cmd.motor_cmd[i].q = 0
+                    self.low_cmd.motor_cmd[i].kp = 0
+                    self.low_cmd.motor_cmd[i].dq = 0
+                    self.low_cmd.motor_cmd[i].kd = self.Kd
+                    self.low_cmd.motor_cmd[i].tau = 0
+        if (self.percent_1 == 1) and (self.percent_2 == 1) and (self.percent_3 == 1) and (self.percent_4 <= 1):
+            self.percent_4 += 1.0 / self.duration_4
+            self.percent_4 = min(self.percent_4, 1)
+            for i in range(12):
+                self.low_cmd.motor_cmd[i].q = (1 - self.percent_4) * self.targetPos_2[i] + self.percent_4 * self.targetPos_3[i]
+                self.low_cmd.motor_cmd[i].dq = 0
+                self.low_cmd.motor_cmd[i].kp = self.Kp
+                self.low_cmd.motor_cmd[i].kd = self.Kd
+                self.low_cmd.motor_cmd[i].tau = 0
+        self.low_cmd.crc = self.crc.Crc(self.low_cmd)
+        self.lowcmd_publisher.Write(self.low_cmd)
+if __name__ == '__main__':
+    if len(sys.argv)>1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+    custom = Custom()
+    custom.Init()
+    custom.Start()
+    while True:
+        if custom.percent_4 == 1.0:
+           time.sleep(1)
+           print("Done!")
+           sys.exit(-1)
+        time.sleep(1)

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/go2w/low_level/unitree_legged_const.py ADDED Viewed

	@@ -0,0 +1,24 @@

+LegID = {
+    "FR_0": 0,  # Front right hip
+    "FR_1": 1,  # Front right thigh
+    "FR_2": 2,  # Front right calf
+    "FL_0": 3,
+    "FL_1": 4,
+    "FL_2": 5,
+    "RR_0": 6,
+    "RR_1": 7,
+    "RR_2": 8,
+    "RL_0": 9,
+    "RL_1": 10,
+    "RL_2": 11,
+    "FR_w": 12, # Front right wheel
+    "FL_w": 13, # Front left wheel
+    "RR_w": 14, # Rear right wheel
+    "RL_w": 15, # Rear left wheel
+}
+HIGHLEVEL = 0xEE
+LOWLEVEL = 0xFF
+TRIGERLEVEL = 0xF0
+PosStopF = 2.146e9
+VelStopF = 16000.0

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/h1/high_level/h1_loco_client_example.py ADDED Viewed

	@@ -0,0 +1,96 @@

+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.h1.loco.h1_loco_client import LocoClient
+import math
+from dataclasses import dataclass
+@dataclass
+class TestOption:
+    name: str
+    id: int
+option_list = [
+    TestOption(name="damp", id=0),
+    TestOption(name="stand_up", id=1),
+    TestOption(name="move forward", id=3),
+    TestOption(name="move lateral", id=4),
+    TestOption(name="move rotate", id=5),
+    TestOption(name="low stand", id=6),
+    TestOption(name="high stand", id=7),
+    TestOption(name="zero torque", id=8)
+]
+class UserInterface:
+    def __init__(self):
+        self.test_option_ = None
+    def convert_to_int(self, input_str):
+        try:
+            return int(input_str)
+        except ValueError:
+            return None
+    def terminal_handle(self):
+        input_str = input("Enter id or name: \n")
+        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}")
+            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}")
+                return
+        print("No matching test option found.")
+if __name__ == "__main__":
+    print("WARNING: Please ensure there are no obstacles around the robot while running this example.")
+    input("Press Enter to continue...")
+    if len(sys.argv)>1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+    test_option = TestOption(name=None, id=None)
+    user_interface = UserInterface()
+    user_interface.test_option_ = test_option
+    sport_client = LocoClient()
+    sport_client.SetTimeout(10.0)
+    sport_client.Init()
+    while True:
+        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 == 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(0,0,0.3)
+        elif test_option.id == 6:
+            sport_client.LowStand()
+        elif test_option.id == 7:
+            sport_client.HighStand()
+        elif test_option.id == 8:
+            sport_client.ZeroTorque()
+        time.sleep(1)

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/h1/low_level/h1_low_level_example.py ADDED Viewed

	@@ -0,0 +1,167 @@

+import time
+import sys
+from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize
+from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
+from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowCmd_
+from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowState_
+from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowCmd_
+from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowState_
+from unitree_sdk2py.utils.crc import CRC
+from unitree_sdk2py.utils.thread import RecurrentThread
+from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import MotionSwitcherClient
+import unitree_legged_const as h1
+import numpy as np
+H1_NUM_MOTOR = 20
+class H1JointIndex:
+    # Right leg
+    kRightHipYaw = 8
+    kRightHipRoll = 0
+    kRightHipPitch = 1
+    kRightKnee = 2
+    kRightAnkle = 11
+    # Left leg
+    kLeftHipYaw = 7
+    kLeftHipRoll = 3
+    kLeftHipPitch = 4
+    kLeftKnee = 5
+    kLeftAnkle = 10
+    kWaistYaw = 6
+    kNotUsedJoint = 9
+    # Right arm
+    kRightShoulderPitch = 12
+    kRightShoulderRoll = 13
+    kRightShoulderYaw = 14
+    kRightElbow = 15
+    # Left arm
+    kLeftShoulderPitch = 16
+    kLeftShoulderRoll = 17
+    kLeftShoulderYaw = 18
+    kLeftElbow = 19
+class Custom:
+    def __init__(self):
+        self.time_ = 0.0
+        self.control_dt_ = 0.01
+        self.duration_ = 10.0
+        self.counter_ = 0
+        self.kp_low_ = 60.0
+        self.kp_high_ = 200.0
+        self.kd_low_ = 1.5
+        self.kd_high_ = 5.0
+        self.low_cmd = unitree_go_msg_dds__LowCmd_()
+        self.InitLowCmd()
+        self.low_state = None
+        self.crc = CRC()
+    def Init(self):
+        # # create publisher #
+        self.lowcmd_publisher_ = ChannelPublisher("rt/lowcmd", LowCmd_)
+        self.lowcmd_publisher_.Init()
+        # # create subscriber #
+        self.lowstate_subscriber = ChannelSubscriber("rt/lowstate", LowState_)
+        self.lowstate_subscriber.Init(self.LowStateHandler, 10)
+        self.msc = MotionSwitcherClient()
+        self.msc.SetTimeout(5.0)
+        self.msc.Init()
+        status, result = self.msc.CheckMode()
+        while result['name']:
+            self.msc.ReleaseMode()
+            status, result = self.msc.CheckMode()
+            time.sleep(1)
+        self.report_rpy_ptr_ = RecurrentThread(
+            interval=0.1, target=self.ReportRPY, name="report_rpy"
+        )
+        self.report_rpy_ptr_.Start()
+    def is_weak_motor(self,motor_index):
+        return motor_index in {
+            H1JointIndex.kLeftAnkle,
+            H1JointIndex.kRightAnkle,
+            H1JointIndex.kRightShoulderPitch,
+            H1JointIndex.kRightShoulderRoll,
+            H1JointIndex.kRightShoulderYaw,
+            H1JointIndex.kRightElbow,
+            H1JointIndex.kLeftShoulderPitch,
+            H1JointIndex.kLeftShoulderRoll,
+            H1JointIndex.kLeftShoulderYaw,
+            H1JointIndex.kLeftElbow,
+        }
+    def InitLowCmd(self):
+        self.low_cmd.head[0] = 0xFE
+        self.low_cmd.head[1] = 0xEF
+        self.low_cmd.level_flag = 0xFF
+        self.low_cmd.gpio = 0
+        for i in range(H1_NUM_MOTOR):
+            if self.is_weak_motor(i):
+                self.low_cmd.motor_cmd[i].mode = 0x01
+            else:
+                self.low_cmd.motor_cmd[i].mode = 0x0A
+            self.low_cmd.motor_cmd[i].q= h1.PosStopF
+            self.low_cmd.motor_cmd[i].kp = 0
+            self.low_cmd.motor_cmd[i].dq = h1.VelStopF
+            self.low_cmd.motor_cmd[i].kd = 0
+            self.low_cmd.motor_cmd[i].tau = 0
+    def Start(self):
+        self.lowCmdWriteThreadPtr = RecurrentThread(
+            interval=self.control_dt_, target=self.LowCmdWrite, name="control"
+        )
+        self.lowCmdWriteThreadPtr.Start()
+    def LowStateHandler(self, msg: LowState_):
+        self.low_state = msg
+    def ReportRPY(self):
+        print("rpy: [",self.low_state.imu_state.rpy[0],", "
+                    ,self.low_state.imu_state.rpy[1],", "
+                    ,self.low_state.imu_state.rpy[2],"]"
+        )
+    def LowCmdWrite(self):
+        self.time_ += self.control_dt_
+        self.time_ = np.clip(self.time_ , 0.0, self.duration_)
+        # set robot to zero posture
+        for i in range(H1_NUM_MOTOR):
+            ratio = self.time_ / self.duration_
+            self.low_cmd.motor_cmd[i].tau = 0.
+            self.low_cmd.motor_cmd[i].q = (1.0 - ratio) * self.low_state.motor_state[i].q
+            self.low_cmd.motor_cmd[i].dq = 0.
+            self.low_cmd.motor_cmd[i].kp = self.kp_low_ if self.is_weak_motor(i) else self.kp_high_
+            self.low_cmd.motor_cmd[i].kd = self.kd_low_ if self.is_weak_motor(i) else self.kd_high_
+        self.low_cmd.crc = self.crc.Crc(self.low_cmd)
+        self.lowcmd_publisher_.Write(self.low_cmd)
+if __name__ == '__main__':
+    print("WARNING: Please ensure there are no obstacles around the robot while running this example.")
+    input("Press Enter to continue...")
+    if len(sys.argv)>1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+    custom = Custom()
+    custom.Init()
+    custom.Start()
+    while True:
+        if custom.time_ == custom.duration_:
+           time.sleep(1)
+           print("Done!")
+           sys.exit(-1)
+        time.sleep(1)

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/h1/low_level/unitree_legged_const.py ADDED Viewed

	@@ -0,0 +1,5 @@

+HIGHLEVEL = 0xEE
+LOWLEVEL = 0xFF
+TRIGERLEVEL = 0xF0
+PosStopF = 2.146e9
+VelStopF = 16000.0

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/h1_2/low_level/h1_2_low_level_example.py ADDED Viewed

	@@ -0,0 +1,201 @@

+import time
+import sys
+from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize
+from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
+from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowCmd_
+from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowState_
+from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowCmd_
+from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowState_
+from unitree_sdk2py.utils.crc import CRC
+from unitree_sdk2py.utils.thread import RecurrentThread
+from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import MotionSwitcherClient
+import numpy as np
+H1_2_NUM_MOTOR = 27
+class H1_2_JointIndex:
+    # legs
+    LeftHipYaw = 0
+    LeftHipPitch = 1
+    LeftHipRoll = 2
+    LeftKnee = 3
+    LeftAnklePitch = 4
+    LeftAnkleB = 4
+    LeftAnkleRoll = 5
+    LeftAnkleA = 5
+    RightHipYaw = 6
+    RightHipPitch = 7
+    RightHipRoll = 8
+    RightKnee = 9
+    RightAnklePitch = 10
+    RightAnkleB = 10
+    RightAnkleRoll = 11
+    RightAnkleA = 11
+    # torso
+    WaistYaw = 12
+    # arms
+    LeftShoulderPitch = 13
+    LeftShoulderRoll = 14
+    LeftShoulderYaw = 15
+    LeftElbow = 16
+    LeftWristRoll = 17
+    LeftWristPitch = 18
+    LeftWristYaw = 19
+    RightShoulderPitch = 20
+    RightShoulderRoll = 21
+    RightShoulderYaw = 22
+    RightElbow = 23
+    RightWristRoll = 24
+    RightWristPitch = 25
+    RightWristYaw = 26
+class Mode:
+    PR = 0  # Series Control for Pitch/Roll Joints
+    AB = 1  # Parallel Control for A/B Joints
+class Custom:
+    def __init__(self):
+        self.time_ = 0.0
+        self.control_dt_ = 0.002  # [2ms]
+        self.duration_ = 3.0    # [3 s]
+        self.counter_ = 0
+        self.mode_pr_ = Mode.PR
+        self.mode_machine_ = 0
+        self.low_cmd = unitree_hg_msg_dds__LowCmd_()
+        self.low_state = None
+        self.update_mode_machine_ = False
+        self.crc = CRC()
+    def Init(self):
+        self.msc = MotionSwitcherClient()
+        self.msc.SetTimeout(5.0)
+        self.msc.Init()
+        status, result = self.msc.CheckMode()
+        while result['name']:
+            self.msc.ReleaseMode()
+            status, result = self.msc.CheckMode()
+            time.sleep(1)
+        # create publisher #
+        self.lowcmd_publisher_ = ChannelPublisher("rt/lowcmd", LowCmd_)
+        self.lowcmd_publisher_.Init()
+        # create subscriber #
+        self.lowstate_subscriber = ChannelSubscriber("rt/lowstate", LowState_)
+        self.lowstate_subscriber.Init(self.LowStateHandler, 10)
+    def Start(self):
+        self.lowCmdWriteThreadPtr = RecurrentThread(
+            interval=self.control_dt_, target=self.LowCmdWrite, name="control"
+        )
+        while self.update_mode_machine_ == False:
+            time.sleep(1)
+        if self.update_mode_machine_ == True:
+            self.lowCmdWriteThreadPtr.Start()
+    def LowStateHandler(self, msg: LowState_):
+        self.low_state = msg
+        if self.update_mode_machine_ == False:
+            self.mode_machine_ = self.low_state.mode_machine
+            self.update_mode_machine_ = True
+        self.counter_ +=1
+        if (self.counter_ % 500 == 0) :
+            self.counter_ = 0
+            print(self.low_state.imu_state.rpy)
+    def LowCmdWrite(self):
+        self.time_ += self.control_dt_
+        self.low_cmd.mode_pr = Mode.PR
+        self.low_cmd.mode_machine = self.mode_machine_
+        for i in range(H1_2_NUM_MOTOR):
+            ratio = np.clip(self.time_ / self.duration_, 0.0, 1.0)
+            self.low_cmd.motor_cmd[i].mode =  1 # 1:Enable, 0:Disable
+            self.low_cmd.motor_cmd[i].tau = 0.0
+            self.low_cmd.motor_cmd[i].q = 0.0
+            self.low_cmd.motor_cmd[i].dq = 0.0
+            self.low_cmd.motor_cmd[i].kp = 100.0 if i < 13 else 50.0
+            self.low_cmd.motor_cmd[i].kd = 1.0
+        if self.time_ < self.duration_ :
+            # [Stage 1]: set robot to zero posture
+            for i in range(H1_2_NUM_MOTOR):
+                ratio = np.clip(self.time_ / self.duration_, 0.0, 1.0)
+                self.low_cmd.mode_pr = Mode.PR
+                self.low_cmd.mode_machine = self.mode_machine_
+                self.low_cmd.motor_cmd[i].mode =  1 # 1:Enable, 0:Disable
+                self.low_cmd.motor_cmd[i].tau = 0.
+                self.low_cmd.motor_cmd[i].q = (1.0 - ratio) * self.low_state.motor_state[i].q
+                self.low_cmd.motor_cmd[i].dq = 0.
+                self.low_cmd.motor_cmd[i].kp = 100.0 if i < 13 else 50.0
+                self.low_cmd.motor_cmd[i].kd = 1.0
+        else :
+            # [Stage 2]: swing ankle using PR mode
+            max_P = 0.25
+            max_R = 0.25
+            t = self.time_ - self.duration_
+            L_P_des = max_P * np.cos(2.0 * np.pi * t)
+            L_R_des = max_R * np.sin(2.0 * np.pi * t)
+            R_P_des = max_P * np.cos(2.0 * np.pi * t)
+            R_R_des = -max_R * np.sin(2.0 * np.pi * t)
+            Kp_Pitch = 80
+            Kd_Pitch = 1
+            Kp_Roll = 80
+            Kd_Roll = 1
+            self.low_cmd.mode_pr = Mode.PR
+            self.low_cmd.mode_machine = self.mode_machine_
+            self.low_cmd.motor_cmd[H1_2_JointIndex.LeftAnklePitch].q = L_P_des
+            self.low_cmd.motor_cmd[H1_2_JointIndex.LeftAnklePitch].dq = 0
+            self.low_cmd.motor_cmd[H1_2_JointIndex.LeftAnklePitch].kp = Kp_Pitch
+            self.low_cmd.motor_cmd[H1_2_JointIndex.LeftAnklePitch].kd = Kd_Pitch
+            self.low_cmd.motor_cmd[H1_2_JointIndex.LeftAnkleRoll].q = L_R_des
+            self.low_cmd.motor_cmd[H1_2_JointIndex.LeftAnkleRoll].dq = 0
+            self.low_cmd.motor_cmd[H1_2_JointIndex.LeftAnkleRoll].kp = Kp_Roll
+            self.low_cmd.motor_cmd[H1_2_JointIndex.LeftAnkleRoll].kd = Kd_Roll
+            self.low_cmd.motor_cmd[H1_2_JointIndex.RightAnklePitch].q = R_P_des
+            self.low_cmd.motor_cmd[H1_2_JointIndex.RightAnklePitch].dq = 0
+            self.low_cmd.motor_cmd[H1_2_JointIndex.RightAnklePitch].kp = Kp_Pitch
+            self.low_cmd.motor_cmd[H1_2_JointIndex.RightAnklePitch].kd = Kd_Pitch
+            self.low_cmd.motor_cmd[H1_2_JointIndex.RightAnkleRoll].q = R_R_des
+            self.low_cmd.motor_cmd[H1_2_JointIndex.RightAnkleRoll].dq = 0
+            self.low_cmd.motor_cmd[H1_2_JointIndex.RightAnkleRoll].kp = Kp_Roll
+            self.low_cmd.motor_cmd[H1_2_JointIndex.RightAnkleRoll].kd = Kd_Roll
+            max_wrist_roll_angle = 0.5;  # [rad]
+            WristRoll_des = max_wrist_roll_angle * np.sin(2.0 * np.pi * t)
+            self.low_cmd.motor_cmd[H1_2_JointIndex.LeftWristRoll].q = WristRoll_des
+            self.low_cmd.motor_cmd[H1_2_JointIndex.LeftWristRoll].dq = 0
+            self.low_cmd.motor_cmd[H1_2_JointIndex.LeftWristRoll].kp = 50
+            self.low_cmd.motor_cmd[H1_2_JointIndex.LeftWristRoll].kd = 1
+            self.low_cmd.motor_cmd[H1_2_JointIndex.RightWristRoll].q = WristRoll_des
+            self.low_cmd.motor_cmd[H1_2_JointIndex.RightWristRoll].dq = 0
+            self.low_cmd.motor_cmd[H1_2_JointIndex.RightWristRoll].kp = 50
+            self.low_cmd.motor_cmd[H1_2_JointIndex.RightWristRoll].kd = 1
+        self.low_cmd.crc = self.crc.Crc(self.low_cmd)
+        self.lowcmd_publisher_.Write(self.low_cmd)
+if __name__ == '__main__':
+    print("WARNING: Please ensure there are no obstacles around the robot while running this example.")
+    input("Press Enter to continue...")
+    if len(sys.argv)>1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+    custom = Custom()
+    custom.Init()
+    custom.Start()
+    while True:
+        time.sleep(1)

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/helloworld/publisher.py ADDED Viewed

	@@ -0,0 +1,28 @@

+import time
+from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize
+from user_data import *
+if __name__ == "__main__":
+    ChannelFactoryInitialize()
+    # Create a publisher to publish the data defined in UserData class
+    pub = ChannelPublisher("topic", UserData)
+    pub.Init()
+    for i in range(30):
+        # Create a Userdata message
+        msg = UserData(" ", 0)
+        msg.string_data = "Hello world"
+        msg.float_data = time.time()
+        # Publish message
+        if pub.Write(msg, 0.5):
+            print("Publish success. msg:", msg)
+        else:
+            print("Waitting for subscriber.")
+        time.sleep(1)
+    pub.Close()

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/helloworld/subscriber.py ADDED Viewed

	@@ -0,0 +1,20 @@

+import time
+from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
+from user_data import *
+if __name__ == "__main__":
+    ChannelFactoryInitialize()
+    # Create a subscriber to subscribe the data defined in UserData class
+    sub = ChannelSubscriber("topic", UserData)
+    sub.Init()
+    while True:
+        msg = sub.Read()
+        if msg is not None:
+            print("Subscribe success. msg:", msg)
+        else:
+            print("No data subscribed.")
+            break
+    sub.Close()

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/helloworld/user_data.py ADDED Viewed

	@@ -0,0 +1,9 @@

+from dataclasses import dataclass
+from cyclonedds.idl import IdlStruct
+# This class defines user data consisting of a float data and a string data
+@dataclass
+class UserData(IdlStruct, typename="UserData"):
+    string_data: str
+    float_data: float

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/motionSwitcher/motion_switcher_example.py ADDED Viewed

	@@ -0,0 +1,36 @@

+import time
+import sys
+from unitree_sdk2py.core.channel import ChannelFactoryInitialize
+from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import MotionSwitcherClient
+class Custom:
+    def __init__(self):
+        self.msc = MotionSwitcherClient()
+        self.msc.SetTimeout(5.0)
+        self.msc.Init()
+    def selectMode(self,name):
+        ret = self.msc.SelectMode(name)
+        return ret
+if __name__ == '__main__':
+    print("WARNING: Please ensure there are no obstacles around the robot while running this example.")
+    input("Press Enter to continue...")
+    if len(sys.argv)>1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+    custom = Custom()
+    selectMode = "ai"
+    # selectMode = "normal"
+    # selectMode = "advanced"
+    # selectMode = "ai-w"  # for wheeled robot
+    ret = custom.selectMode(selectMode)
+    print("ret: ",ret)

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/obstacles_avoid/obstacles_avoid_move.py ADDED Viewed

	@@ -0,0 +1,35 @@

+import time
+import sys
+from unitree_sdk2py.core.channel import ChannelFactoryInitialize
+from unitree_sdk2py.go2.obstacles_avoid.obstacles_avoid_client import ObstaclesAvoidClient
+if __name__ == "__main__":
+    if len(sys.argv)>1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+    try:
+        client = ObstaclesAvoidClient()
+        client.SetTimeout(3.0)
+        client.Init()
+        while not client.SwitchGet()[1]:
+            client.SwitchSet(True)
+            time.sleep(0.1)
+        print("obstacles avoid switch on")
+        client.UseRemoteCommandFromApi(True)
+        time.sleep(0.5)
+        client.Move(0.5, 0.0, 0.0)
+        time.sleep(1.0) # move 1s
+        client.Move(0.0, 0.0, 0.0)
+        client.UseRemoteCommandFromApi(False)
+    except KeyboardInterrupt:
+        client.Move(0.0, 0.0, 0.0)
+        client.UseRemoteCommandFromApi(False)
+        print("exit!!")

GR00T-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/obstacles_avoid/obstacles_avoid_switch.py ADDED Viewed

	@@ -0,0 +1,94 @@

+import time
+import sys
+from unitree_sdk2py.core.channel import ChannelFactoryInitialize
+from unitree_sdk2py.go2.obstacles_avoid.obstacles_avoid_client import ObstaclesAvoidClient
+if __name__ == "__main__":
+    if len(sys.argv)>1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+    client = ObstaclesAvoidClient()
+    client.SetTimeout(3.0)
+    client.Init()
+    while True:
+        print("##################GetServerApiVersion###################")
+        code, serverAPiVersion = client.GetServerApiVersion()
+        if code != 0:
+            print("get server api error. code:", code)
+        else:
+            print("get server api version:", serverAPiVersion)
+        if serverAPiVersion != client.GetApiVersion():
+            print("api version not equal.")
+        time.sleep(3)
+        print("##################SwitchGet###################")
+        code, enable = client.SwitchGet()
+        if code != 0:
+            print("switch get error. code:", code)
+        else:
+            print("switch get success. enable:", enable)
+        time.sleep(3)
+        print("##################SwitchSet (on)###################")
+        code = client.SwitchSet(True)
+        if code != 0:
+            print("switch set error. code:", code)
+        else:
+            print("switch set success.")
+        time.sleep(3)
+        print("##################SwitchGet###################")
+        code, enable1 = client.SwitchGet()
+        if code != 0:
+            print("switch get error. code:", code)
+        else:
+            print("switch get success. enable:", enable1)
+        time.sleep(3)
+        print("##################SwitchSet (off)###################")
+        code = client.SwitchSet(False)
+        if code != 0:
+            print("switch set error. code:", code)
+        else:
+            print("switch set success.")
+        time.sleep(3)
+        print("##################SwitchGet###################")
+        code, enable1 = client.SwitchGet()
+        if code != 0:
+            print("switch get error. code:", code)
+        else:
+            print("switch get success. enable:", enable1)
+        time.sleep(3)
+        print("##################SwitchSet (enable)###################")
+        code = client.SwitchSet(enable)
+        if code != 0:
+            print("switch set error. code:", code)
+        else:
+            print("switch set success. enable:", enable)
+        time.sleep(3)
+        print("##################SwitchGet###################")
+        code, enable = client.SwitchGet()
+        if code != 0:
+            print("switch get error. code:", code)
+        else:
+            print("switch get success. enable:", enable)
+        time.sleep(3)