unitree_sdk2_python/unitree_sdk2py/test/lowlevel/sub_lowstate.py

import time
from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowState_
from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowState_

def LowStateHandler(msg: LowState_):
    print(msg.motor_state)

    
ChannelFactoryInitialize(0, "enp2s0")
sub = ChannelSubscriber("rt/lowstate", LowState_)
sub.Init(LowStateHandler, 10)

while True:
    time.sleep(10.0)