upload motion_switcher_example and update MotionSwitcherClient class

example/motionSwitcher/motion_switcher_example.py

@@ -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)
+

unitree_sdk2py/comm/motion_switcher/motion_switcher_client.py

@@ -32,6 +32,15 @@ class MotionSwitcherClient(Client):
         else:
             return code, None
 
+    # 1002
+    def SelectMode(self, nameOrAlias):
+        p = {}
+        p["name"] = nameOrAlias
+        parameter = json.dumps(p)
+        code, data = self._Call(MOTION_SWITCHER_API_ID_SELECT_MODE, parameter)
+      
+        return code, None
+
     # 1003
     def ReleaseMode(self):
         p = {}