#!/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)