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