GR00T-WholeBodyControl / external_dependencies /unitree_sdk2_python /example /motionSwitcher /motion_switcher_example.py
| 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) | |