From fbcdf413963689f137ad99ae1f3727976087e439 Mon Sep 17 00:00:00 2001 From: lnotspotl Date: Thu, 10 Apr 2025 17:29:49 -0400 Subject: [PATCH 1/2] fix wheels --- setup.py | 3 ++- unitree_sdk2py/b2/__init__.py | 0 2 files changed, 2 insertions(+), 1 deletion(-) create mode 100644 unitree_sdk2py/b2/__init__.py diff --git a/setup.py b/setup.py index 54d8cac..8c7b58b 100644 --- a/setup.py +++ b/setup.py @@ -17,5 +17,6 @@ setup(name='unitree_sdk2py', "cyclonedds==0.10.2", "numpy", "opencv-python", + "pygame", ], - ) \ No newline at end of file + ) diff --git a/unitree_sdk2py/b2/__init__.py b/unitree_sdk2py/b2/__init__.py new file mode 100644 index 0000000..e69de29 From 7c661d27f4ae064ffd0dd633fd9d5b518ef0b508 Mon Sep 17 00:00:00 2001 From: lnotspotl Date: Thu, 10 Apr 2025 17:57:43 -0400 Subject: [PATCH 2/2] Update unitree_sdk2py package --- unitree_sdk2py/__init__.py | 8 ++++--- unitree_sdk2py/b2/__init__.py | 13 ++++++++++ unitree_sdk2py/b2/back_video/__init__.py | 7 ++++++ unitree_sdk2py/b2/front_video/__init__.py | 7 ++++++ unitree_sdk2py/b2/robot_state/__init__.py | 7 ++++++ .../b2/robot_state/robot_state_client.py | 1 - unitree_sdk2py/b2/sport/__init__.py | 7 ++++++ unitree_sdk2py/b2/vui/__init__.py | 7 ++++++ unitree_sdk2py/comm/__init__.py | 5 ++++ .../comm/motion_switcher/__init__.py | 7 ++++++ unitree_sdk2py/core/__init__.py | 9 +++++++ unitree_sdk2py/g1/__init__.py | 7 ++++++ unitree_sdk2py/g1/audio/__init__.py | 7 ++++++ unitree_sdk2py/g1/loco/__init__.py | 7 ++++++ unitree_sdk2py/go2/__init__.py | 13 ++++++++++ .../go2/obstacles_avoid/__init__.py | 7 ++++++ unitree_sdk2py/go2/robot_state/__init__.py | 7 ++++++ unitree_sdk2py/go2/sport/__init__.py | 7 ++++++ unitree_sdk2py/go2/video/__init__.py | 7 ++++++ unitree_sdk2py/go2/vui/__init__.py | 7 ++++++ unitree_sdk2py/h1/__init__.py | 5 ++++ unitree_sdk2py/h1/loco/__init__.py | 7 ++++++ unitree_sdk2py/idl/__init__.py | 2 +- unitree_sdk2py/rpc/__init__.py | 24 +++++++++++++++++++ 24 files changed, 180 insertions(+), 5 deletions(-) create mode 100644 unitree_sdk2py/b2/back_video/__init__.py create mode 100644 unitree_sdk2py/b2/front_video/__init__.py create mode 100644 unitree_sdk2py/b2/robot_state/__init__.py create mode 100644 unitree_sdk2py/b2/sport/__init__.py create mode 100644 unitree_sdk2py/b2/vui/__init__.py create mode 100644 unitree_sdk2py/comm/__init__.py create mode 100644 unitree_sdk2py/g1/__init__.py create mode 100644 unitree_sdk2py/g1/audio/__init__.py create mode 100644 unitree_sdk2py/g1/loco/__init__.py create mode 100644 unitree_sdk2py/h1/__init__.py create mode 100644 unitree_sdk2py/h1/loco/__init__.py diff --git a/unitree_sdk2py/__init__.py b/unitree_sdk2py/__init__.py index f071aeb..6e92525 100644 --- a/unitree_sdk2py/__init__.py +++ b/unitree_sdk2py/__init__.py @@ -1,10 +1,12 @@ -from . import idl, utils, core, rpc, go2, b2 +from . import idl, utils, core, rpc, go2, b2, g1, h1 __all__ = [ - "idl" - "utils" + "idl", + "utils", "core", "rpc", "go2", "b2", + "g1", + "h1", ] diff --git a/unitree_sdk2py/b2/__init__.py b/unitree_sdk2py/b2/__init__.py index e69de29..0153b42 100644 --- a/unitree_sdk2py/b2/__init__.py +++ b/unitree_sdk2py/b2/__init__.py @@ -0,0 +1,13 @@ +from . import back_video +from . import front_video +from . import robot_state +from . import sport +from . import vui + +__all__ = [ + "back_video", + "front_video", + "robot_state", + "sport", + "vui", +] \ No newline at end of file diff --git a/unitree_sdk2py/b2/back_video/__init__.py b/unitree_sdk2py/b2/back_video/__init__.py new file mode 100644 index 0000000..dbf655b --- /dev/null +++ b/unitree_sdk2py/b2/back_video/__init__.py @@ -0,0 +1,7 @@ +from . import back_video_api +from . import back_video_client + +__all__ = [ + "back_video_api", + "back_video_client", +] \ No newline at end of file diff --git a/unitree_sdk2py/b2/front_video/__init__.py b/unitree_sdk2py/b2/front_video/__init__.py new file mode 100644 index 0000000..cc4c936 --- /dev/null +++ b/unitree_sdk2py/b2/front_video/__init__.py @@ -0,0 +1,7 @@ +from . import front_video_api +from . import front_video_client + +__all__ = [ + "front_video_api", + "front_video_client", +] \ No newline at end of file diff --git a/unitree_sdk2py/b2/robot_state/__init__.py b/unitree_sdk2py/b2/robot_state/__init__.py new file mode 100644 index 0000000..cb4c0c2 --- /dev/null +++ b/unitree_sdk2py/b2/robot_state/__init__.py @@ -0,0 +1,7 @@ +from . import robot_state_api +from . import robot_state_client + +__all__ = [ + "robot_state_api", + "robot_state_client", +] \ No newline at end of file diff --git a/unitree_sdk2py/b2/robot_state/robot_state_client.py b/unitree_sdk2py/b2/robot_state/robot_state_client.py index 5b2e74d..8491f02 100644 --- a/unitree_sdk2py/b2/robot_state/robot_state_client.py +++ b/unitree_sdk2py/b2/robot_state/robot_state_client.py @@ -1,7 +1,6 @@ import json from ...rpc.client import Client -from ...rpc.client_internal import * from .robot_state_api import * diff --git a/unitree_sdk2py/b2/sport/__init__.py b/unitree_sdk2py/b2/sport/__init__.py new file mode 100644 index 0000000..79229b7 --- /dev/null +++ b/unitree_sdk2py/b2/sport/__init__.py @@ -0,0 +1,7 @@ +from . import sport_api +from . import sport_client + +__all__ = [ + "sport_api", + "sport_client", +] \ No newline at end of file diff --git a/unitree_sdk2py/b2/vui/__init__.py b/unitree_sdk2py/b2/vui/__init__.py new file mode 100644 index 0000000..f63479d --- /dev/null +++ b/unitree_sdk2py/b2/vui/__init__.py @@ -0,0 +1,7 @@ +from . import vui_api +from . import vui_client + +__all__ = [ + "vui_api", + "vui_client", +] diff --git a/unitree_sdk2py/comm/__init__.py b/unitree_sdk2py/comm/__init__.py new file mode 100644 index 0000000..9de3f54 --- /dev/null +++ b/unitree_sdk2py/comm/__init__.py @@ -0,0 +1,5 @@ +from . import motion_switcher + +__all__ = [ + "motion_switcher", +] \ No newline at end of file diff --git a/unitree_sdk2py/comm/motion_switcher/__init__.py b/unitree_sdk2py/comm/motion_switcher/__init__.py index e69de29..914ec53 100644 --- a/unitree_sdk2py/comm/motion_switcher/__init__.py +++ b/unitree_sdk2py/comm/motion_switcher/__init__.py @@ -0,0 +1,7 @@ +from . import motion_switcher_api +from . import motion_switcher_client + +__all__ = [ + "motion_switcher_api", + "motion_switcher_client", +] \ No newline at end of file diff --git a/unitree_sdk2py/core/__init__.py b/unitree_sdk2py/core/__init__.py index e69de29..cecad3c 100644 --- a/unitree_sdk2py/core/__init__.py +++ b/unitree_sdk2py/core/__init__.py @@ -0,0 +1,9 @@ +from . import channel_config +from . import channel_name +from . import channel + +__all__ = [ + "channel_config", + "channel_name", + "channel", +] \ No newline at end of file diff --git a/unitree_sdk2py/g1/__init__.py b/unitree_sdk2py/g1/__init__.py new file mode 100644 index 0000000..49cda91 --- /dev/null +++ b/unitree_sdk2py/g1/__init__.py @@ -0,0 +1,7 @@ +from . import audio +from . import loco + +__all__ = [ + "audio", + "loco", +] \ No newline at end of file diff --git a/unitree_sdk2py/g1/audio/__init__.py b/unitree_sdk2py/g1/audio/__init__.py new file mode 100644 index 0000000..3b269b5 --- /dev/null +++ b/unitree_sdk2py/g1/audio/__init__.py @@ -0,0 +1,7 @@ +from . import g1_audio_api +from . import g1_audio_client + +__all__ = [ + "g1_audio_api", + "g1_audio_client", +] \ No newline at end of file diff --git a/unitree_sdk2py/g1/loco/__init__.py b/unitree_sdk2py/g1/loco/__init__.py new file mode 100644 index 0000000..a95632e --- /dev/null +++ b/unitree_sdk2py/g1/loco/__init__.py @@ -0,0 +1,7 @@ +from . import g1_loco_api +from . import g1_loco_client + +__all__ = [ + "g1_loco_api", + "g1_loco_client", +] \ No newline at end of file diff --git a/unitree_sdk2py/go2/__init__.py b/unitree_sdk2py/go2/__init__.py index e69de29..03b9fe9 100644 --- a/unitree_sdk2py/go2/__init__.py +++ b/unitree_sdk2py/go2/__init__.py @@ -0,0 +1,13 @@ +from . import obstacles_avoid +from . import robot_state +from . import sport +from . import video +from . import vui + +__all__ = [ + "obstacles_avoid", + "robot_state", + "sport", + "video", + "vui", +] \ No newline at end of file diff --git a/unitree_sdk2py/go2/obstacles_avoid/__init__.py b/unitree_sdk2py/go2/obstacles_avoid/__init__.py index e69de29..557bcf7 100644 --- a/unitree_sdk2py/go2/obstacles_avoid/__init__.py +++ b/unitree_sdk2py/go2/obstacles_avoid/__init__.py @@ -0,0 +1,7 @@ +from . import obstacles_avoid_api +from . import obstacles_avoid_client + +__all__ = [ + "obstacles_avoid_api", + "obstacles_avoid_client", +] \ No newline at end of file diff --git a/unitree_sdk2py/go2/robot_state/__init__.py b/unitree_sdk2py/go2/robot_state/__init__.py index e69de29..cb4c0c2 100644 --- a/unitree_sdk2py/go2/robot_state/__init__.py +++ b/unitree_sdk2py/go2/robot_state/__init__.py @@ -0,0 +1,7 @@ +from . import robot_state_api +from . import robot_state_client + +__all__ = [ + "robot_state_api", + "robot_state_client", +] \ No newline at end of file diff --git a/unitree_sdk2py/go2/sport/__init__.py b/unitree_sdk2py/go2/sport/__init__.py index e69de29..79229b7 100644 --- a/unitree_sdk2py/go2/sport/__init__.py +++ b/unitree_sdk2py/go2/sport/__init__.py @@ -0,0 +1,7 @@ +from . import sport_api +from . import sport_client + +__all__ = [ + "sport_api", + "sport_client", +] \ No newline at end of file diff --git a/unitree_sdk2py/go2/video/__init__.py b/unitree_sdk2py/go2/video/__init__.py index e69de29..da62a86 100644 --- a/unitree_sdk2py/go2/video/__init__.py +++ b/unitree_sdk2py/go2/video/__init__.py @@ -0,0 +1,7 @@ +from . import video_api +from . import video_client + +__all__ = [ + "video_api", + "video_client", +] \ No newline at end of file diff --git a/unitree_sdk2py/go2/vui/__init__.py b/unitree_sdk2py/go2/vui/__init__.py index e69de29..f093a60 100644 --- a/unitree_sdk2py/go2/vui/__init__.py +++ b/unitree_sdk2py/go2/vui/__init__.py @@ -0,0 +1,7 @@ +from . import vui_api +from . import vui_client + +__all__ = [ + "vui_api", + "vui_client", +] \ No newline at end of file diff --git a/unitree_sdk2py/h1/__init__.py b/unitree_sdk2py/h1/__init__.py new file mode 100644 index 0000000..287b5dd --- /dev/null +++ b/unitree_sdk2py/h1/__init__.py @@ -0,0 +1,5 @@ +from . import loco + +__all__ = [ + "loco", +] diff --git a/unitree_sdk2py/h1/loco/__init__.py b/unitree_sdk2py/h1/loco/__init__.py new file mode 100644 index 0000000..c36a2be --- /dev/null +++ b/unitree_sdk2py/h1/loco/__init__.py @@ -0,0 +1,7 @@ +from . import h1_loco_api +from . import h1_loco_client + +__all__ = [ + "h1_loco_api", + "h1_loco_client", +] \ No newline at end of file diff --git a/unitree_sdk2py/idl/__init__.py b/unitree_sdk2py/idl/__init__.py index 38d706e..6dc0c9c 100644 --- a/unitree_sdk2py/idl/__init__.py +++ b/unitree_sdk2py/idl/__init__.py @@ -1,5 +1,5 @@ from .default import * -from . import builtin_interfaces, geometry_msgs, sensor_msgs, std_msgs, unitree_go, unitree_api +from . import builtin_interfaces, geometry_msgs, sensor_msgs, std_msgs, unitree_go, unitree_api, unitree_hg __all__ = [ "builtin_interfaces", diff --git a/unitree_sdk2py/rpc/__init__.py b/unitree_sdk2py/rpc/__init__.py index e69de29..3139c99 100644 --- a/unitree_sdk2py/rpc/__init__.py +++ b/unitree_sdk2py/rpc/__init__.py @@ -0,0 +1,24 @@ +from . import client_base +from . import client_stub +from . import client +from . import internal +from . import lease_client +from . import lease_server +from . import request_future +from . import server_base +from . import server_stub +from . import server + + +__all__ = [ + "client_base", + "client_stub", + "client", + "lease_client", + "lease_server", + "request_future", + "server_base", + "server_stub", + "server", + "internal", +] \ No newline at end of file