Unitree SDK2 Python

https://github.com/unitreerobotics/unitree_sdk2_python
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Unitree SDK2 Python is the Python SDK for controlling Unitree robots like Go2, G1 and H1 over...
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### AudioClient usage example

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/g1-clients.md

Example of initializing the audio client, setting volume, generating TTS, controlling LED, and getting volume.

```python
from unitree_sdk2py.g1.audio.g1_audio_client import AudioClient

audio = AudioClient(); audio.SetTimeout(10.0); audio.Init()
audio.SetVolume(85)
audio.TtsMaker("大家好!我是宇树科技人形机器人。语音开发测试例程运行成功！", 0)
audio.LedControl(255, 0, 0)

code, data = audio.GetVolume()
if code == 0:
    print("volume:", data)
```

--------------------------------

### LocoClient usage example

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/g1-clients.md

Shows how to initialize the channel, create a LocoClient, and use Start, Move, WaveHand, and SwitchToInternalCtrl. The example catches ValueError for invalid InternalFsmMode.

```python
from unitree_sdk2py.core.channel import ChannelFactoryInitialize
from unitree_sdk2py.g1.loco.g1_loco_client import LocoClient
from unitree_sdk2py.g1.loco.g1_loco_api import InternalFsmMode

ChannelFactoryInitialize(0, "enp2s0")
loco = LocoClient()
loco.SetTimeout(10.0)
loco.Init()

loco.Start()
loco.Move(0.2, 0.0, 0.0, continous_move=True)
loco.WaveHand(turn_flag=True)

try:
    loco.SwitchToInternalCtrl(InternalFsmMode.WALKRUN)
except ValueError as e:
    print("invalid mode:", e)
```

--------------------------------

### Run DDS Publisher

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/README.md

Execute the publisher example to start sending data.

```bash
python3 ./example/helloworld/publisher.py
```

--------------------------------

### H1 LocoClient Usage Example

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/h1-r1-loco.md

A basic example demonstrating how to initialize the H1 LocoClient, start the robot, and perform movement commands.

```python
from unitree_sdk2py.core.channel import ChannelFactoryInitialize
from unitree_sdk2py.h1.loco.h1_loco_client import LocoClient

ChannelFactoryInitialize(0, "enp2s0")
loco = LocoClient(); loco.SetTimeout(10.0); loco.Init()
loco.Start()
loco.Move(0.1, 0.0, 0.0)
loco.StopMove()
```

--------------------------------

### G1ArmActionClient usage example

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/g1-clients.md

Example of initializing the client, executing an action, and retrieving the action list.

```python
from unitree_sdk2py.g1.arm.g1_arm_action_client import G1ArmActionClient, action_map
arm = G1ArmActionClient(); arm.SetTimeout(10.0); arm.Init()
code = arm.ExecuteAction(action_map["face wave"])
print("execute:", code)
code, actions = arm.GetActionList()
```

--------------------------------

### H2 LocoClient Usage Example

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/h2-loco.md

Example of initializing the channel and using LocoClient to start, move, get FSM ID, enable arm SDK, set swing height, and shake hand. Requires a network interface (e.g., enp2s0) and a 10-second timeout.

```python
from unitree_sdk2py.core.channel import ChannelFactoryInitialize
from unitree_sdk2py.h2.loco.h2_loco_client import LocoClient

ChannelFactoryInitialize(0, "enp2s0")
loco = LocoClient(); loco.SetTimeout(10.0); loco.Init()

code = loco.Start()
code = loco.Move(0.2, 0.0, 0.0, continous_move=True)
code, fsm = loco.GetFsmId()
if code != 0:
    print("fsm read failed:", code)

loco.EnableArmSDK()
loco.SetSwingHeight(0.15)
loco.ShakeHand(stage=1)
```

--------------------------------

### ObstaclesAvoidClient Usage Example

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/go2-aux-clients.md

A basic example demonstrating how to initialize the client, enable obstacle avoidance, and perform a movement command.

```python
from unitree_sdk2py.go2.obstacles_avoid.obstacles_avoid_client import ObstaclesAvoidClient

oa = ObstaclesAvoidClient(); oa.Init()
code = oa.SwitchSet(True)                      # enable obstacle avoidance
code = oa.Move(0.2, 0.0, 0.0)                 # walk with avoidance active
code, enabled = oa.SwitchGet()
```

--------------------------------

### Install unitree_sdk2_python from source

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/README.md

Commands to clone the repository and install the package in editable mode.

```bash
cd ~
sudo apt install python3-pip
git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
cd unitree_sdk2_python
pip3 install -e .
```

--------------------------------

### FrontVideoClient usage example

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/b2-clients.md

Initializes FrontVideoClient, sets a 10-second timeout, and retrieves an image sample. The example uses the front video client only.

```python
from unitree_sdk2py.b2.front_video.front_video_client import FrontVideoClient
fv = FrontVideoClient(); fv.SetTimeout(10.0); fv.Init()
code, img = fv.GetImageSample()
```

--------------------------------

### Configure CYCLONEDDS_HOME and install

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/README.md

Set the environment variable to the compiled CycloneDDS path and complete the unitree_sdk2_python installation.

```bash
cd ~/unitree_sdk2_python
export CYCLONEDDS_HOME=~/cyclonedds/install
pip3 install -e .
```

--------------------------------

### LeaseClient usage example

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/rpc-client.md

Basic implementation showing how to initialize a LeaseClient for a service, wait for the lease to be applied, and verify its status.

```python
from unitree_sdk2py.rpc.lease_client import LeaseClient

lease = LeaseClient("sport")
lease.Init()
lease.WaitApplied()
print("lease id:", lease.GetId(), "valid:", lease.Applied())
```

--------------------------------

### ChannelFactory usage example

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/core-channel.md

Shows how to initialize the factory and create a send channel.

```python
from unitree_sdk2py.core.channel import ChannelFactoryInitialize, ChannelFactory

ChannelFactoryInitialize(0, "enp2s0")
factory = ChannelFactory()
ch = factory.CreateSendChannel("rt/lowcmd", LowCmd_)
```

--------------------------------

### RobotStateClient usage example

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/b2-clients.md

Initializes RobotStateClient and calls ServiceList, LowPowerStatus, and GetPkgVersion. The example assumes the client is already imported and the robot is reachable.

```python
from unitree_sdk2py.b2.robot_state.robot_state_client import RobotStateClient
rs = RobotStateClient(); rs.Init()
code, services = rs.ServiceList()
code, lp = rs.LowPowerStatus()
code, ver = rs.GetPkgVersion()
```

--------------------------------

### Server.StartLease(term: float = 1.0)

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/rpc-server.md

Enables lease checking by constructing a LeaseServer with the given term, initializing it, and starting it.

```APIDOC
## Server.StartLease(term: float = 1.0)

### Description
Enables lease checking by constructing a LeaseServer with the given term, initializing it, and starting it.

### Method
StartLease

### Parameters
- **term** (float) - Optional - The lease term in seconds. Default is 1.0.

### Source
`unitree_sdk2py/rpc/server.py`
```

--------------------------------

### SportClient Usage Example

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/b2-clients.md

Example demonstrating initialization of the SportClient, basic movement commands, and trajectory following with the required number of points.

```python
from unitree_sdk2py.core.channel import ChannelFactoryInitialize
from unitree_sdk2py.b2.sport.sport_client import SportClient, PathPoint, SPORT_PATH_POINT_SIZE

ChannelFactoryInitialize(0, "enp2s0")
sport = SportClient(); sport.Init()

sport.SwitchGait(0)                       # select gait
sport.BodyHeight(0.3)
code = sport.Move(0.4, 0.0, 0.0)

# trajectory requires exactly 30 points
path = [PathPoint(i * 0.1, i * 0.05, 0.0, 0.0, 0.5, 0.0, 0.0) for i in range(SPORT_PATH_POINT_SIZE)]
code = sport.TrajectoryFollow(path)
if code == 4101:
    print("wrong point count")
```

--------------------------------

### R1 LocoClient Usage Example

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/h1-r1-loco.md

A basic example demonstrating how to initialize the R1 LocoClient and set the FSM and task IDs.

```python
from unitree_sdk2py.r1.loco.r1_loco_client import LocoClient
loco = LocoClient(); loco.Init()
code = loco.SetFsmId(204)      # start
code = loco.SetTaskId(0)
```

--------------------------------

### LeaseClient Example

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/rpc-client.md

Example usage of LeaseClient to acquire and check a lease.

```APIDOC
## LeaseClient Example

### Description
Example usage of LeaseClient to acquire and check a lease.

### Code
```python
from unitree_sdk2py.rpc.lease_client import LeaseClient

lease = LeaseClient("sport")
lease.Init()
lease.WaitApplied()
print("lease id:", lease.GetId(), "valid:", lease.Applied())
```
```

--------------------------------

### LogicJoystick Usage Example

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/utils-joystick.md

Demonstrates how to instantiate the LogicJoystick and poll for button states in a loop.

```python
from unitree_sdk2py.utils.joystick import LogicJoystick
import time

js = LogicJoystick()          # raises Exception if no joystick present
while True:
    js.update()
    if js.A.on_pressed:
        print("A pressed")
    time.sleep(0.02)
```

--------------------------------

### VuiClient Volume Control Example

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/go2-aux-clients.md

Example usage of VuiClient to get the current volume and increment it by 10, capped at 100.

```python
from unitree_sdk2py.go2.vui.vui_client import VuiClient

vui = VuiClient(); vui.Init()
code, vol = vui.GetVolume()
if code == 0:
    vui.SetVolume(min(vol + 10, 100))
```

--------------------------------

### VideoClient GetImageSample Example

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/go2-aux-clients.md

Example usage of VideoClient to initialize the channel and retrieve an image sample, saving it to a file.

```python
from unitree_sdk2py.core.channel import ChannelFactoryInitialize
from unitree_sdk2py.go2.video.video_client import VideoClient

ChannelFactoryInitialize(0, "enp2s0")
video = VideoClient()
video.SetTimeout(10.0)
video.Init()

code, img = video.GetImageSample()
if code == 0 and img:
    with open("frame.jpg", "wb") as f:
        f.write(bytes(img))
```

--------------------------------

### Compile and install CycloneDDS

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/README.md

Steps to manually compile CycloneDDS from source when the installer cannot locate it.

```bash
cd ~
git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x 
cd cyclonedds && mkdir build install && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=../install
cmake --build . --target install
```

--------------------------------

### BQueue Usage Example

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/utils.md

Demonstrates initializing a BQueue with a maximum length and performing basic put and get operations.

```python
from unitree_sdk2py.utils.bqueue import BQueue
q = BQueue(maxLen=3)
q.Put("a")
q.Put("b", replace=True)
print(q.Get(1.0), q.Size())   # "a" 1
```

--------------------------------

### Example usage of RobotStateClient

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/go2-aux-clients.md

Shows how to initialize RobotStateClient, list services, and switch a service off. The example prints service name, status, and 'protected' flag if protected, and checks for error code 5202 when switching a protected service.

```python
from unitree_sdk2py.go2.robot_state.robot_state_client import RobotStateClient

rs = RobotStateClient(); rs.Init()
code, services = rs.ServiceList()
if code == 0:
    for s in services:
        print(s.name, s.status, "protected" if s.protect else "")

code = rs.ServiceSwitch("sport_mode", False)   # turn off motion service
if code == 5202:
    print("service is protected")
```

--------------------------------

### Custom RPC Server Implementation

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/rpc-server.md

Example of initializing a custom RPC server with a registered handler.

```python
from unitree_sdk2py.core.channel import ChannelFactoryInitialize
from unitree_sdk2py.rpc.server import Server

ChannelFactoryInitialize(0, "enp2s0")

server = Server("sport")
server._SetApiVersion("1.0.0.1")
server._RegistHandler(1001, lambda p: (0, '{"ok": true}'), checkLease=False)
server.Start()
```

--------------------------------

### HZSample Usage Example

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/utils.md

Example showing how to initialize and use HZSample to print the loop frequency every second.

```python
from unitree_sdk2py.utils.hz_sample import HZSample
hz = HZSample(interval=1.0)
hz.Start()
while True:
    hz.Sample()   # prints "HZ: <n>" every second
```

--------------------------------

### ChannelFactoryInitialize usage example

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/core-channel.md

Shows how to call ChannelFactoryInitialize with a specific network interface or with auto-detection.

```python
from unitree_sdk2py.core.channel import ChannelFactoryInitialize

ChannelFactoryInitialize(0, "enp2s0")   # bind to robot network interface
# or
ChannelFactoryInitialize()              # auto-determined interface, domain 0
```

--------------------------------

### Joystick Example Usage

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/utils-joystick.md

Example showing how to subscribe to robot low state and use Joystick to extract remote control data.

```APIDOC
## Joystick Example Usage

### Description
Example showing how to subscribe to robot low state and use Joystick to extract remote control data.

### Code
```python
import time
from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowState_
from unitree_sdk2py.utils.joystick import Joystick

js = Joystick()

def on_lowstate(msg: LowState_):
    js.extract(msg.wireless_remote)
    if js.A.on_pressed:
        print("A pressed, click_count:", js.A.click_count)
    print("lx:", js.lx.data)

ChannelFactoryInitialize(0, "enp2s0")
sub = ChannelSubscriber("rt/lowstate", LowState_)
sub.Init(on_lowstate, 10)
time.sleep(10)
```
```

--------------------------------

### Control Light and Volume

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/README.md

Run the VUI client example to cycle volume and light brightness. Replace enp2s0 with your network interface name.

```bash
python3 ./example/vui_client/vui_client_example.py enp2s0
```

--------------------------------

### Access Front Camera via OpenCV

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/README.md

Run the camera example on a system with a graphical interface. Replace enp2s0 with your network interface name.

```bash
python3 ./example/front_camera/camera_opencv.py enp2s0
```

--------------------------------

### LeaseClient.Init

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/rpc-client.md

Initializes the lease client and starts a daemon thread that periodically applies for or renews the lease.

```APIDOC
## LeaseClient.Init

### Description
Initializes the lease client and starts a daemon thread that periodically applies for or renews the lease.

### Method
Init

### Signature
```python
def Init(self): ...
```

### Behavior
- If no valid lease exists, it calls `__Apply()` which posts JSON `{"name": contextName}` to RPC_API_ID_LEASE_APPLY (101). On success, it stores the returned `id` and `term` (converted from microseconds to seconds) in a LeaseContext.
- If a valid lease exists, it calls `__Renewal()` which posts `{}` with the lease id to RPC_API_ID_LEASE_RENEWAL (102). If the server responds with RPC_ERR_SERVER_LEASE_NOT_EXIST (3206), the context is reset so a new lease is applied.
- The thread sleeps for `term * 0.3` seconds (fallback to `RPC_LEASE_TERM * 0.3`).
```

--------------------------------

### Example: Check and select motion mode

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/comm-motion-switcher.md

Initializes the channel and client, checks the current mode, selects a named mode, and releases control back to the robot's default.

```python
from unitree_sdk2py.core.channel import ChannelFactoryInitialize
from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import MotionSwitcherClient

ChannelFactoryInitialize(0, "enp2s0")
ms = MotionSwitcherClient(); ms.Init()

code, mode = ms.CheckMode()
if code == 0:
    print("current mode:", mode)

code, _ = ms.SelectMode("normal")          # enter a named motion mode
code, _ = ms.ReleaseMode()                 # hand control back to the robot's default

```

--------------------------------

### Toggle Obstacle Avoidance

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/README.md

Run the obstacle avoidance switch example. Replace enp2s0 with your network interface name.

```bash
python3 ./example/obstacles_avoid_switch/obstacles_avoid_switch.py enp2s0
```

--------------------------------

### CRC Usage Example

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/utils.md

Example showing how to compute and set the CRC field for a LowCmd_ message.

```python
from unitree_sdk2py.utils.crc import CRC
from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowCmd_

cmd = LowCmd_()
cmd.crc = CRC().Crc(cmd)   # fill crc field before sending on rt/lowcmd
```

--------------------------------

### Server (custom RPC server)

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/rpc-server.md

Example of creating a custom RPC server using the Server class.

```APIDOC
## [RPC] Server (custom RPC server)

### Description
Example of creating a custom RPC server using the Server class.

### Method
RPC (example)

### Endpoint
N/A (Python example)

### Parameters
N/A

### Request Example
```python
from unitree_sdk2py.core.channel import ChannelFactoryInitialize
from unitree_sdk2py.rpc.server import Server

ChannelFactoryInitialize(0, "enp2s0")

server = Server("sport")
server._SetApiVersion("1.0.0.1")
server._RegistHandler(1001, lambda p: (0, '{"ok": true}'), checkLease=False)
server.Start()
```

### Response
#### Success Response
N/A

#### Response Example
N/A
```

--------------------------------

### Server (lease-gated handler)

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/rpc-server.md

Example of a server with a lease-gated handler and error handling.

```APIDOC
## [RPC] Server (lease-gated handler)

### Description
Example of a server with a lease-gated handler and error handling.

### Method
RPC (example)

### Endpoint
N/A (Python example)

### Parameters
N/A

### Request Example
```python
def guarded_handler(parameter):
    # runs only for clients holding a valid lease
    return 0, "granted"

server = Server("sport")
server.StartLease(term=2.0)                     # lease server on "sport_lease"
server._RegistHandler(2001, guarded_handler, checkLease=True)
server.Start()

# A client built with Client("sport", enabaleLease=True) that forgets to
# WaitLeaseApplied() before calling API 2001 gets RPC_ERR_SERVER_LEASE_DENIED (3205).
```

### Response
#### Success Response
N/A

#### Response Example
N/A
```

--------------------------------

### Initialize SportClient and call one-shot actions

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/go2-sport-client.md

Example showing how to initialize the sport client with ChannelFactoryInitialize and call one-shot actions like StandUp, Damp, and RecoveryStand. The StandUp call returns 0 if accepted.

```python
from unitree_sdk2py.core.channel import ChannelFactoryInitialize
from unitree_sdk2py.go2.sport.sport_client import SportClient

ChannelFactoryInitialize(0, "enp2s0")
sport = SportClient()
sport.Init()

if sport.StandUp() == 0:
    print("stand up accepted")
print("damp:", sport.Damp())
print("recovery:", sport.RecoveryStand())
```

--------------------------------

### Server.Start(enablePrioQueue: bool = False)

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/rpc-server.md

Registers the internal request handler and starts the stub, which creates channels, queues, and threads. Optionally enables a priority queue for high-priority requests.

```APIDOC
## Server.Start(enablePrioQueue: bool = False)

### Description
Registers the internal request handler and starts the stub, which creates channels, queues, and threads. Optionally enables a priority queue for high-priority requests.

### Method
Start

### Parameters
- **enablePrioQueue** (bool) - Optional - When True, requests with priority > 0 are routed to a separate priority queue. Default is False.

### Source
`unitree_sdk2py/rpc/server.py`
```

--------------------------------

### ObstaclesAvoidClient.SwitchGet

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/go2-aux-clients.md

Gets the current obstacle avoidance enable state.

```APIDOC
## ObstaclesAvoidClient.SwitchGet

### Description
Gets the current obstacle avoidance enable state.

### Method
SwitchGet

### Signature
`def SwitchGet(self) -> (code, enable | None)`

### Parameters
None

### Returns
- **code** (int) - Result code.
- **enable** (bool or None) - Current enable state, or None if not available.
```

--------------------------------

### Example: Error handling for SelectMode

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/comm-motion-switcher.md

Shows how to handle a rejected mode selection by checking the returned code and printing an error message.

```python
code, _ = ms.SelectMode("nonexistent_mode")
if code != 0:
    print("select mode rejected:", code)   # robot-side error code or RPC code (see errors.md)

```

--------------------------------

### Using Future to resolve and retrieve results

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/utils.md

Example showing how to instantiate a Future, resolve it from a producer thread using Ready, and retrieve the result with GetResult.

```python
from unitree_sdk2py.utils.future import Future, FutureResult

f = Future()
f.Ready({"ok": True})             # called from a producer thread
res = f.GetResult(1.0)
if res.code == FutureResult.FUTURE_SUCC:
    print(res.value)
```

--------------------------------

### Monitor Wireless Controller Status

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/README.md

Run the wireless controller example to view key status. Replace enp2s0 with your network interface name.

```bash
python3 ./example/wireless_controller/wireless_controller.py enp2s0
```

--------------------------------

### Server with Lease-Gated Handler

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/rpc-server.md

Example of a server requiring clients to hold a valid lease to access specific handlers.

```python
def guarded_handler(parameter):
    # runs only for clients holding a valid lease
    return 0, "granted"

server = Server("sport")
server.StartLease(term=2.0)                     # lease server on "sport_lease"
server._RegistHandler(2001, guarded_handler, checkLease=True)
server.Start()

# A client built with Client("sport", enabaleLease=True) that forgets to
# WaitLeaseApplied() before calling API 2001 gets RPC_ERR_SERVER_LEASE_DENIED (3205).
```

--------------------------------

### Run DDS Subscriber

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/README.md

Execute the subscriber example in a separate terminal to receive data from the publisher.

```bash
python3 ./example/helloworld/subscriber.py
```

--------------------------------

### Usage of RPC internal constants in application code

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/rpc-internal.md

Example showing how to import and use RPC constants when interacting with the client API.

```python
from unitree_sdk2py.rpc.internal import (
    RPC_OK, RPC_ERR_CLIENT_API_TIMEOUT, RPC_ERR_SERVER_LEASE_DENIED,
    RPC_API_ID_INTERNAL_API_VERSION, RPC_LEASE_TERM,
)
code, version = client.GetServerApiVersion()
if code != RPC_OK:
    ...
```

--------------------------------

### Use Move and AutoRecoveryGet/Set

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/go2-sport-client.md

Example of using the Move command (fire-and-forget) and toggling auto-recovery with AutoRecoveryGet and AutoRecoverySet. The Move command returns a code that is checked for rejection.

```python
sport = SportClient()
sport.Init()

code = sport.Move(0.5, 0.0, 0.0)          # forward 0.5 m/s — fire and forget
if code != 0:
    print("velocity command rejected:", code)

code, enabled = sport.AutoRecoveryGet()
if code == 0:
    sport.AutoRecoverySet(not enabled)    # toggle auto-recovery
```

--------------------------------

### Subscribe with handler and queue

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/core-channel.md

Example of subscribing to the 'rt/lowstate' topic with a handler and a queue length of 10. The handler prints the IMU state rpy values; the subscriber is closed after a 10-second sleep.

```python
def on_lowstate(msg):
    print(msg.imu_state.rpy)

sub = ChannelSubscriber("rt/lowstate", LowState_)
sub.Init(on_lowstate, 10)   # queue of 10, handler runs on drain thread
import time; time.sleep(10)
sub.Close()
```

--------------------------------

### Publish LowCmd_ message

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/core-channel.md

Basic example of publishing a LowCmd_ message on the 'rt/lowcmd' topic. Initializes the channel factory, creates a publisher, writes a sample with a 0.5 s timeout, and closes the publisher.

```python
from unitree_sdk2py.core.channel import ChannelPublisher, ChannelSubscriber, ChannelFactoryInitialize
from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowCmd_

ChannelFactoryInitialize(0, "enp2s0")

pub = ChannelPublisher("rt/lowcmd", LowCmd_)
pub.Init()
msg = LowCmd_()
msg.tick = 1
pub.Write(msg, 0.5)
pub.Close()
```

--------------------------------

### SportClient usage example

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/a2-as2-sport-client.md

Initializes the AS2 SportClient, performs StandUp, Euler, Move, and SetAutoRecovery calls, and checks the return code for error handling. Requires ChannelFactoryInitialize with network interface.

```python
from unitree_sdk2py.core.channel import ChannelFactoryInitialize
from unitree_sdk2py.as2.sport.sport_client import SportClient

ChannelFactoryInitialize(0, "enp2s0")
sport = SportClient()
sport.Init()

print("stand:", sport.StandUp())
print("euler:", sport.Euler(0.0, 0.02, 0.0))
print("move:", sport.Move(0.2, 0.0, 0.0))

# error handling: non-zero code means the robot rejected or RPC failed
code = sport.SetAutoRecovery(1)
if code != 0:
    print("auto recovery rejected:", code)
```

--------------------------------

### Server class definition and method signatures

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/rpc-server.md

Defines the Server class extending ServerBase. Methods include Init as a no-op placeholder, Start to begin processing, StartLease to enable lease checking, handler registration, and API version accessors.

```python
class Server(ServerBase):
    def __init__(self, name: str): ...
    def Init(self): ...                                  # no-op placeholder
    def StartLease(self, term: float = 1.0): ...
    def Start(self, enablePrioQueue: bool = False): ...
    def GetApiVersion(self): ...                       # -> str
    def _SetApiVersion(self, apiVersion: str): ...
    def _RegistHandler(self, apiId: int, handler: Callable, checkLease: bool): ...
    def _RegistBinaryHandler(self, apiId: int, handler: Callable, checkLease: bool): ...
```

--------------------------------

### Subscribe to robot remote state with Joystick

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/utils-joystick.md

Example that subscribes to robot remote state. It initializes the channel factory with network interface "enp2s0", subscribes to "rt/lowstate", and in the callback extracts the wireless remote data and prints button A click count and lx axis value.

```python
import time
from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowState_
from unitree_sdk2py.utils.joystick import Joystick

js = Joystick()

def on_lowstate(msg: LowState_):
    js.extract(msg.wireless_remote)
    if js.A.on_pressed:
        print("A pressed, click_count:", js.A.click_count)
    print("lx:", js.lx.data)

ChannelFactoryInitialize(0, "enp2s0")
sub = ChannelSubscriber("rt/lowstate", LowState_)
sub.Init(on_lowstate, 10)
time.sleep(10)
```

--------------------------------

### Server.__init__(name: str)

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/rpc-server.md

Initializes a new Server instance with the given service name. Stores empty API version and handler mappings.

```APIDOC
## Server.__init__(name: str)

### Description
Initializes a new Server instance with the given service name. Stores empty API version and handler mappings.

### Method
Constructor

### Parameters
- **name** (str) - Required - The service name.

### Source
`unitree_sdk2py/rpc/server.py:17`
```

--------------------------------

### ClientBase.__init__

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/rpc-client.md

Initializes a new ClientBase instance with the given service name.

```APIDOC
## ClientBase.__init__

### Description
Initializes a new ClientBase instance with the specified service name.

### Method
Constructor

### Signature
```python
def __init__(self, serviceName: str): ...
```

### Parameters
- **serviceName** (str) - Required - The name of the RPC service to connect to.

### Returns
None
```

--------------------------------

### Client Constructor

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/rpc-client.md

Creates a new Client instance with the specified service name and optional lease enablement. Initializes the ClientStub and sets default timeout.

```APIDOC
## Client(serviceName, enabaleLease)

### Description
Creates a new RPC client for the specified service. When lease is enabled, it also initializes a LeaseClient.

### Method
Constructor

### Endpoint
Client(serviceName: str, enabaleLease: bool = False)

### Parameters
- **serviceName** (str) - Required - RPC service name; channel names become `rt/api/<serviceName>/request` and `.../response`
- **enabaleLease** (bool) - Optional - Default: `False` - When `True`, constructs and `Init()`s a `LeaseClient(serviceName)`

### Response
No return value. Sets default call timeout to 1.0 seconds.
```

--------------------------------

### GET /api/version

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/endpoints.md

Retrieves the server API version.

```APIDOC
## [GET] /api/version

### Description
Retrieves the server API version.

### Method
GET

### Endpoint
/api/version

### Parameters
No parameters.

### Request Example
"{}"

### Response
#### Success Response (200)
- **version** (string) - The server API version string.

#### Response Example
"1.0.0"
```

--------------------------------

### LeaseClient.__init__

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/rpc-client.md

Constructor for LeaseClient. Initializes the client with a service name, which is used to form the lease service name and context name.

```APIDOC
## LeaseClient.__init__

### Description
Constructor for LeaseClient. Initializes the client with a service name, which is used to form the lease service name and context name.

### Method
Constructor

### Signature
```python
def __init__(self, name: str): ...
```

### Parameters
- **name** (str) - Required - The base service name. The actual lease service name becomes `<name>_lease`.

### Notes
- The context name is set to `socket.gethostname() + "/" + name + "/" + str(os.getpid())`.
```

--------------------------------

### LogicJoystick.__init__

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/utils-joystick.md

Initializes the LogicJoystick, which is a PyGameJoystick configured for the Logitech F710 gamepad.

```APIDOC
## LogicJoystick.__init__

### Description
Initializes the LogicJoystick, which extends PyGameJoystick and is configured for the Logitech F710 gamepad.

### Method
Constructor

### Signature
```python
def __init__(self) -> None
```

### Parameters
None

### Exceptions
- **Exception** - Raised when no joystick is found (inherited from PyGameJoystick).
```

--------------------------------

### Usage pattern: initialize channel factory with network interface

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/configuration.md

Shows how to call ChannelFactoryInitialize with a network interface argument from the command line, e.g., python3 app.py enp2s0.

```python
from unitree_sdk2py.core.channel import ChannelFactoryInitialize
import sys

ChannelFactoryInitialize(0, sys.argv[1])   # e.g. `python3 app.py enp2s0`
```

--------------------------------

### SportClient.Init()

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/a2-as2-sport-client.md

Initializes the SportClient by registering all API IDs with priority 0. Must be called before using other methods.

```APIDOC
## SportClient.Init()

### Description
Initializes the SportClient by registering all API IDs with priority 0. Must be called before using other methods.

### Method
Init

### Endpoint
N/A (RPC method)

### Parameters
None

### Request Example
```python
sport = SportClient()
sport.Init()
```

### Response
#### Success Response (0)
- **code** (int) - RPC status code; 0 indicates success.

#### Response Example
```python
# No return value (None)
```
```

--------------------------------

### ClientStub

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/rpc-client.md

Documentation for the ClientStub class, its constructor, and its public methods.

```APIDOC
## ClientStub

### Description
ClientStub is a client-side RPC stub that manages channels, a future queue, and request/response handling for a named service.

### Import
`from unitree_sdk2py.rpc.client_stub import ClientStub`

### Constructor
`ClientStub(serviceName: str)`

### Methods

#### Init()
- Creates channels and future queue, sleeps 0.5 seconds.

#### Send(request: Request, timeout: float) -> bool
- Sends a request and returns a boolean indicating success.

#### SendRequest(request: Request, timeout: float) -> RequestFuture | None
- Registers a RequestFuture with the request ID before writing. On write failure, removes the future and returns None.

#### RemoveFuture(requestId: int)
- Removes a future from the queue by request ID.

### Notes
- The response handler looks up the future by `response.header.identity.id` and calls `future.Ready(response)`.
```

--------------------------------

### ObstaclesAvoidClient.Init

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/go2-aux-clients.md

Initializes the client. This method must be called before using other methods.

```APIDOC
## ObstaclesAvoidClient.Init

### Description
Initializes the client. This method must be called before using other methods.

### Method
Init

### Signature
`def Init(self)`

### Parameters
None

### Returns
None
```

--------------------------------

### VuiClient.GetBrightness

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/go2-aux-clients.md

Gets the current brightness level of the VUI service. Returns a tuple of (code, brightness) where brightness is the current level or None on error.

```APIDOC
## VuiClient.GetBrightness

### Description
Gets the current brightness level of the VUI service. Returns a tuple of (code, brightness) where brightness is the current level or None on error.

### Method
RPC Call

### Endpoint
Service: `vui` (version `1.0.0.1`), API ID: `VUI_API_ID_GETBRIGHTNESS = 1006`

### Parameters
None

### Request Example
```python
code, brightness = vui.GetBrightness()
```

### Response
#### Success Response (code == 0)
- **code** (int) - RPC return code, 0 indicates success.
- **brightness** (int) - The current brightness level.

#### Response Example
```python
code, brightness = vui.GetBrightness()
```
```

--------------------------------

### VuiClient.GetVolume

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/go2-aux-clients.md

Gets the current volume level of the VUI service. Returns a tuple of (code, volume) where volume is the current level or None on error.

```APIDOC
## VuiClient.GetVolume

### Description
Gets the current volume level of the VUI service. Returns a tuple of (code, volume) where volume is the current level or None on error.

### Method
RPC Call

### Endpoint
Service: `vui` (version `1.0.0.1`), API ID: `VUI_API_ID_GETVOLUME = 1004`

### Parameters
None

### Request Example
```python
code, volume = vui.GetVolume()
```

### Response
#### Success Response (code == 0)
- **code** (int) - RPC return code, 0 indicates success.
- **volume** (int) - The current volume level.

#### Response Example
```python
code, volume = vui.GetVolume()
```
```

--------------------------------

### VuiClient.GetSwitch

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/go2-aux-clients.md

Gets the current switch state of the VUI service. Returns a tuple of (code, enable) where enable is the switch state or None on error.

```APIDOC
## VuiClient.GetSwitch

### Description
Gets the current switch state of the VUI service. Returns a tuple of (code, enable) where enable is the switch state or None on error.

### Method
RPC Call

### Endpoint
Service: `vui` (version `1.0.0.1`), API ID: `VUI_API_ID_GETSWITCH = 1002`

### Parameters
None

### Request Example
```python
code, enable = vui.GetSwitch()
```

### Response
#### Success Response (code == 0)
- **code** (int) - RPC return code, 0 indicates success.
- **enable** (int) - The current switch state.

#### Response Example
```python
code, enable = vui.GetSwitch()
```
```

--------------------------------

### Basic RPC Client Usage

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/rpc-client.md

Initializes the channel factory and a SportClient to perform a basic robot action.

```python
from unitree_sdk2py.core.channel import ChannelFactoryInitialize
from unitree_sdk2py.go2.sport.sport_client import SportClient

ChannelFactoryInitialize(0, "enp2s0")
client = SportClient()
client.SetTimeout(3.0)
client.Init()

code = client.StandUp()      # code == 0 means accepted by the robot
print("stand up:", code)
```

--------------------------------

### MotionSwitcherClient.Init()

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/comm-motion-switcher.md

Initializes the client and registers API ids SET_SILENT (1004) and GET_SILENT (1005) with priority 0. No wrapper methods are provided for these APIs.

```APIDOC
## MotionSwitcherClient.Init()

### Description
Initializes the client and registers API ids SET_SILENT (1004) and GET_SILENT (1005) with priority 0. No wrapper methods are provided for these APIs.

### Method
Init

### Endpoint
MotionSwitcherClient.Init()

### Parameters
None

### Response
#### Success Response
- **None** - No return value

### Response Example
None
```

--------------------------------

### ChannelFactory.Init

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/core-channel.md

Initializes the ChannelFactory singleton with domain id, optional network interface, and optional QoS. Returns True on success.

```APIDOC
## ChannelFactory.Init

### Description
Initializes the ChannelFactory singleton with a CycloneDDS domain id, optional network interface, and optional default QoS. Returns True once initialized; subsequent calls short-circuit.

### Method
Function

### Signature
```python
def Init(self, id: int, networkInterface: str = None, qos: Qos = None) -> bool:
```

### Parameters
- **id** (int) - Required - CycloneDDS domain id.
- **networkInterface** (str) - Optional - Interface to bind; `None` selects `ChannelConfigAutoDetermine` XML, otherwise `$__IF_NAME__$` in `ChannelConfigHasInterface` is replaced.
- **qos** (cyclonedds.qos.Qos) - Optional - Default QoS applied to every created channel.

### Returns
- **bool** - `True` if initialization succeeded, `False` on failure.

### Errors
On `Domain` or `DomainParticipant` creation failure (including `cyclonedds.core.DDSException`) prints an error and returns `False`.

### Example
```python
from unitree_sdk2py.core.channel import ChannelFactory

factory = ChannelFactory()
ok = factory.Init(0, "enp2s0")
```
```

--------------------------------

### Button.__init__

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/utils-joystick.md

Initializes a Button instance with default state attributes.

```APIDOC
## Button.__init__

### Description
Initializes a Button instance with default state attributes.

### Method
Constructor

### Signature
```python
Button.__init__(self) -> None
```

### Parameters
None

### Returns
None

### Attributes
- **pressed** (bool) - `data != 0` for the current sample
- **on_pressed** (bool) - edge: press this sample while released previously
- **on_released** (bool) - edge: release this sample while pressed previously
- **data** (int) - last raw value
- **click_count** (int) - consecutive presses within 0.3 s of the previous press
- **last_pressed_time** (float) - `time.perf_counter()` of the last press
```

--------------------------------

### ChannelPublisher usage with error handling

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/core-channel.md

Shows how to create a ChannelPublisher, initialize it, and write a message with a timeout. If no subscriber is matched within 0.5 seconds, it prints a message and continues.

```python
pub = ChannelPublisher("topic", HelloWorld)
pub.Init()
if not pub.Write(msg, 0.5):
    print("no subscriber matched within 0.5s; publishing anyway afterwards")
```

--------------------------------

### CLIBLookup and CLIBCheckError definitions

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/utils.md

Defines C library symbol resolution and error checking. CLIBCheckError raises an OSError when a return value is less than 0, while CLIBLookup installs argument types and error checking for resolved symbols.

```python
clib = ctypes.CDLL(None, use_errno=True)

def CLIBCheckError(ret, func, args): ...   # raises OSError(code, os.strerror(code)) when ret < 0
def CLIBLookup(name, resType, argTypes): ...
```

--------------------------------

### Channel.__init__

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/core-channel.md

Initializes a Channel instance with a DDS participant, topic name, message type, and optional QoS.

```APIDOC
## Channel.__init__

### Description
Initializes a Channel instance with a DDS participant, topic name, message type, and optional QoS.

### Method
Constructor

### Signature
```python
Channel(participant: DomainParticipant, name: str, type: Any, qos: Qos = None)
```

### Parameters
- **participant** (DomainParticipant) - Required - Owning participant (normally from `ChannelFactory`)
- **name** (str) - Required - DDS topic name
- **type** (Any) - Required - IDL message class (e.g. `LowCmd_`); used for `Topic(participant, name, type, qos)`
- **qos** (Qos) - Optional - Topic QoS, default `None`

### Example
```python
from unitree_sdk2py.core.channel import Channel
from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowCmd_

channel = Channel(participant, "rt/lowcmd", LowCmd_)
```
```

--------------------------------

### PyGameJoystick.__init__

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/utils-joystick.md

Initializes the pygame joystick subsystem and binds the first available joystick. Raises an exception if no joystick is found.

```APIDOC
## PyGameJoystick.__init__

### Description
Initializes pygame and the joystick subsystem, binding to the first available joystick. Raises Exception("No joystick found!") if no joystick is present.

### Method
Constructor

### Signature
```python
def __init__(self) -> None
```

### Parameters
None

### Exceptions
- **Exception** - Raised when pygame.joystick.get_count() <= 0.
```

--------------------------------

### Joystick class skeleton

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/utils-joystick.md

Class skeleton for the Joystick utility. The constructor creates Button instances for back, start, LB, RB, LT, RT, A, B, X, Y, up, down, left, right, F1, F2 and Axis instances for lx, ly, rx, ry, plus last_active_time and inactive_timeout = 0.5. extract() decodes the 40-byte remote-control payload; combine() packs state back into a 40-byte list.

```python
class Joystick:
  def __init__(self) -> None: ...
  def update(self): ...                      # no-op base
  def extract(self, wireless_remote): ...
  def reset_all_click_counts(self): ...
  def combine(self): ...                     # -> list of 40 ints
```

--------------------------------

### BackVideoClient and FrontVideoClient class definitions

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/_autodocs/api-reference/b2-clients.md

Shows the public methods of BackVideoClient and FrontVideoClient. Both have GetImageSample that calls _CallBinary(1001, []) and return (code, binary | None).

```python
class BackVideoClient(Client):
    def __init__(self): ...
    def Init(self): ...
    def GetImageSample(self): ...    # -> (code, binary | None) via _CallBinary(1001, [])

class FrontVideoClient(Client):
    def __init__(self): ...
    def Init(self): ...
    def GetImageSample(self): ...    # -> (code, binary | None) via _CallBinary(1001, [])
```

--------------------------------

### Execute High-Level Sport Mode Control

Source: https://github.com/unitreerobotics/unitree_sdk2_python/blob/master/README.md

Run the sport mode test script. Replace enp2s0 with your network interface name.

```bash
python3 ./example/high_level/sportmode_test.py enp2s0
```
Tokens:
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