add new APIs for go2 sport client

unitreerobotics · Jan 10, 2025 · ca1bcab · ca1bcab
1 parent 33d5835
commit ca1bcab
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diff --git a/include/unitree/robot/go2/sport/sport_api.hpp b/include/unitree/robot/go2/sport/sport_api.hpp
@@ -57,6 +57,15 @@ const int32_t ROBOT_SPORT_API_ID_DANCE4             = 1038;
 const int32_t ROBOT_SPORT_API_ID_HOPSPINLEFT        = 1039;
 const int32_t ROBOT_SPORT_API_ID_HOPSPINRIGHT       = 1040;
 
+const int32_t ROBOT_SPORT_API_ID_LEFTFLIP           = 1042;
+const int32_t ROBOT_SPORT_API_ID_BACKFLIP           = 1044;
+const int32_t ROBOT_SPORT_API_ID_FREEWALK           = 1045;
+const int32_t ROBOT_SPORT_API_ID_FREEBOUND          = 1046;
+const int32_t ROBOT_SPORT_API_ID_FREEJUMP           = 1047;
+const int32_t ROBOT_SPORT_API_ID_FREEAVOID          = 1048;
+const int32_t ROBOT_SPORT_API_ID_WALKSTAIR          = 1049;
+const int32_t ROBOT_SPORT_API_ID_WALKUPRIGHT        = 1050;
+const int32_t ROBOT_SPORT_API_ID_CROSSSTEP          = 1051;
 
 }
 }

diff --git a/include/unitree/robot/go2/sport/sport_client.hpp b/include/unitree/robot/go2/sport/sport_client.hpp
@@ -276,6 +276,60 @@ class SportClient : public Client
      */
     int32_t EconomicGait(bool flag);
 
+    /*
+     * @brief LeftFlip
+     * @api: 1042
+     */
+    int32_t LeftFlip();
+
+    /*
+     * @brief LeftFlip
+     * @api: 1044
+     */
+    int32_t BackFlip();
+
+    /*
+     * @brief FreeWalk
+     * @api: 1045
+     */
+    int32_t FreeWalk();
+
+    /*
+     * @brief FreeBound
+     * @api: 1046
+     */
+    int32_t FreeBound(bool flag);
+
+    /*
+     * @brief FreeJump
+     * @api: 1047
+     */
+    int32_t FreeJump(bool flag);
+
+    /*
+     * @brief FreeAvoid
+     * @api: 1048
+     */
+    int32_t FreeAvoid(bool flag);
+
+    /*
+     * @brief WalkStair
+     * @api: 1049
+     */
+    int32_t WalkStair(bool flag);
+
+    /*
+     * @brief WalkStair
+     * @api: 1050
+     */
+    int32_t WalkUpright(bool flag);
+
+    /*
+     * @brief CrossStep
+     * @api: 1051
+     */
+    int32_t CrossStep(bool flag);
+
 };
 }
 }

diff --git a/lib/aarch64/libunitree_sdk2.a b/lib/aarch64/libunitree_sdk2.a
diff --git a/lib/x86_64/libunitree_sdk2.a b/lib/x86_64/libunitree_sdk2.a