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Go2Real

Inherits from: Robot

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Go2Real

Go2Real(network_interface_name, obstacle_avoidance, low_level_control: bool)
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Arguments
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network_interface_name (optional, str)
required
name of the network interface, defaults to “wlo1”
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obstacle_avoidance (optional, bool)
required
whether to enable obstacle avoidance, defaults to False
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low_level_control (optional, bool)
required
whether to use low level control. If False, high level control is used. Defaults to False

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getImage

Go2Real.getImage(camera_name: str, image_type: str)
Return the image of camera. Go2 only has one camera so the args are not used.
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Arguments
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camera_name (optional, str)
required
unused, go2 only has one camera
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image_type (optional, str)
required
unused, go2 only has rgb images
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Returns
Imagerequested image

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getLidarData

Go2Real.getLidarData()
Get the current LiDAR point cloud data
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Returns
Point cloud data containing 3D points

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getHeightMap

Go2Real.getHeightMap()
Get the current height map data from LiDAR
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Returns
HeightMapHeight map data with resolution and origin information

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getPosition

Go2Real.getPosition(name: str)
Get the current position of the unitree go2 agent with respect to the world coordinate.
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Arguments
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name (optional, str)
required
unused
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Returns
Positionunitree go2 agent’s current position (x,y,z) with respect to the world coordinate

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getOrientation

Go2Real.getOrientation(name: str)
return the current orientation of the unitree go2 agent in radians
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Arguments
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name (optional, str)
required
unused
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Returns
Orientationcurrent orientation of the unitree go2 agent in radians

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setYaw

Go2Real.setYaw(yaw: float, speed)
Set the yaw (in radians) of the unitree agent to the specified radians. Yaw measures the rotation of the drone around the z-axis (downwards)
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Arguments
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yaw (float)
required
the target yaw (radians) for the drone

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moveByVelocity

Go2Real.moveByVelocity(linear_velocity: Velocity, angular_velocity: Velocity, duration: Union[float, None], name: str)
Move the agent by velocity (velocity vector is respect to world coordinates) for the specified duration of seconds.
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Arguments
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linear_velocity (Velocity)
required
Velocitycontains x velocity (x_vel), y velocity (y_vel), z_vel is discarded
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angular_velocity (Velocity)
required
Velocitycontains yaw to turn by (z_vel), x_vel and y_vel are discarded
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duration (optional, Union[float, None])
required
number of seconds that the Go2 should move before stopping
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name (optional, str)
required
unused
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Returns

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getVelocity

Go2Real.getVelocity()
Get the velocity of the unitree go2 agent
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Returns
Velocityvelocity of the unitree go2 agent

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setJointPositions

Go2Real.setJointPositions(joint_position: dict)
Set the position of the robot’s joints.
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Arguments
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joint_position (dict)
required
Dictionary mapping joint names to target positions
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Returns

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setJointVelocities

Go2Real.setJointVelocities(joint_velocity: dict)
Set the velocity of the robot’s joints.
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Arguments
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joint_velocity (dict)
required
Dictionary mapping joint names to target velocities
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Returns

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setJointTorques

Go2Real.setJointTorques(joint_torque: dict)
Set the torque of the robot’s joints.
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Arguments
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joint_torque (dict)
required
Dictionary mapping joint names to target torques
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Returns

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getMotorState

Go2Real.getMotorState()
Get the current state of all motors.

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getIMU

Go2Real.getIMU()
Get the current IMU state.

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getBatteryState

Go2Real.getBatteryState()
Get the current battery state.

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getFootForce

Go2Real.getFootForce()
Get the current foot force readings.

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getLowLevelState

Go2Real.getLowLevelState()
Get the complete low level state.