add move api of obstacles_avoid

example/obstacles_avoid/obstacles_avoid_move.py

@@ -0,0 +1,28 @@
+import time
+import sys
+
+from unitree_sdk2py.core.channel import ChannelFactoryInitialize
+from unitree_sdk2py.go2.obstacles_avoid.obstacles_avoid_client import ObstaclesAvoidClient
+
+if __name__ == "__main__":
+    if len(sys.argv)>1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+
+    client = ObstaclesAvoidClient()
+    client.SetTimeout(3.0)
+    client.Init()
+
+    client.SwitchSet(False)
+    time.sleep(2)
+
+    client.SwitchSet(True)
+    time.sleep(2)
+
+    client.UseRemoteCommandFromApi(True)
+    time.sleep(2)
+    while True:
+        client.Move(0.5, 0.0, 0.0)
+        time.sleep(0.02)
+        

unitree_sdk2py/go2/obstacles_avoid/obstacles_avoid_api.py

@@ -7,7 +7,7 @@ OBSTACLES_AVOID_SERVICE_NAME = "obstacles_avoid"
 """
 " service api version
 """
-OBSTACLES_AVOID_API_VERSION = "1.0.0.1"
+OBSTACLES_AVOID_API_VERSION = "1.0.0.2"
 
 
 """
@@ -15,3 +15,5 @@ OBSTACLES_AVOID_API_VERSION = "1.0.0.1"
 """
 OBSTACLES_AVOID_API_ID_SWITCH_SET = 1001
 OBSTACLES_AVOID_API_ID_SWITCH_GET = 1002
+OBSTACLES_AVOID_API_ID_MOVE = 1003
+OBSTACLES_AVOID_API_ID_USE_REMOTE_COMMAND_FROM_API = 1004

unitree_sdk2py/go2/obstacles_avoid/obstacles_avoid_client.py

@@ -17,6 +17,8 @@ class ObstaclesAvoidClient(Client):
         # regist api
         self._RegistApi(OBSTACLES_AVOID_API_ID_SWITCH_SET, 0)
         self._RegistApi(OBSTACLES_AVOID_API_ID_SWITCH_GET, 0)
+        self._RegistApi(OBSTACLES_AVOID_API_ID_MOVE, 0)
+        self._RegistApi(OBSTACLES_AVOID_API_ID_USE_REMOTE_COMMAND_FROM_API, 0)
 
     # 1001
     def SwitchSet(self, on: bool):
@@ -37,4 +39,22 @@ class ObstaclesAvoidClient(Client):
             d = json.loads(data)
             return code, d["enable"]
         else:
-            return code, None
+            return code, None
+
+    # 1003
+    def Move(self, vx: float, vy: float, vyaw: float):
+        p = {}
+        p["x"] = vx
+        p["y"] = vy
+        p["yaw"] = vyaw
+        p["mode"] = 0
+        parameter = json.dumps(p)
+        code = self._CallNoReply(OBSTACLES_AVOID_API_ID_MOVE, parameter)
+        return code
+
+    def UseRemoteCommandFromApi(self, isRemoteCommandsFromApi: bool):
+        p = {}
+        p["is_remote_commands_from_api"] = isRemoteCommandsFromApi
+        parameter = json.dumps(p)
+        code, data = self._Call(OBSTACLES_AVOID_API_ID_USE_REMOTE_COMMAND_FROM_API, parameter)
+        return code