15 lines
450 B
Python
15 lines
450 B
Python
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import time
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from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactortyInitialize
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from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowState_
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from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowState_
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def LowStateHandler(msg: LowState_):
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print(msg.motor_state)
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ChannelFactortyInitialize(0, "enp2s0")
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sub = ChannelSubscriber("rt/lowstate", LowState_)
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sub.Init(LowStateHandler, 10)
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while True:
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time.sleep(10.0)
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