增加high lever，待测试，待全部转换为C++版本加速，待接口与官方同步

2026-06-20 20:31:12 +08:00
parent 0e6c90a868
commit 96db3f40f4
12 changed files with 677 additions and 5 deletions
--- a/examples/example_highlevel_pose.py
+++ b/examples/example_highlevel_pose.py
@@ -0,0 +1,46 @@
+#!/usr/bin/env python3
+"""高层姿态控制: 站立 + 各方向倾斜/扭转."""
+import sys
+import time
+
+from go1_pro_sdk import Go1, Pose
+
+
+def main():
+    print('🐕 高层示例: 站立姿态变化')
+
+    with Go1() as dog:
+        print('stand_up...')
+        dog.stand_up()
+        time.sleep(3)
+
+        print('进入 stand 模式...')
+        dog.set_stand_mode()
+        time.sleep(1)
+
+        poses = [
+            ('左倾', Pose(lean_left_right=-0.5)),
+            ('右倾', Pose(lean_left_right=+0.5)),
+            ('扭头左', Pose(twist_left_right=-0.5)),
+            ('扭头右', Pose(twist_left_right=+0.5)),
+            ('低头', Pose(look_up_down=-0.5)),
+            ('抬头', Pose(look_up_down=+0.5)),
+            ('蹲下', Pose(extend_squat=-0.5)),
+            ('撑直', Pose(extend_squat=+0.5)),
+            ('归位', Pose()),
+        ]
+        for name, pose in poses:
+            print(f'  → {name}')
+            for _ in range(15):
+                dog.pose(pose)
+                time.sleep(0.1)
+
+        print('stand_down...')
+        dog.stand_down()
+        time.sleep(3)
+
+    print('✅ 结束')
+
+
+if __name__ == '__main__':
+    sys.exit(main() or 0)