Merge pull request unitreerobotics#120 from wjbbupt/master

feat(go2): add some new supported go2 obstacles avoid APIs,

Author: Agnel-Wang

example/obstacles_avoid/obstacles_avoid_move.py

@@ -27,6 +27,9 @@
         time.sleep(1.0) # move 1s
         client.Move(0.0, 0.0, 0.0)
         client.UseRemoteCommandFromApi(False)
+        time.sleep(1.0)
+        client.MoveToAbsolutePosition(0.0, 0.0, 0.0)
+        client.MoveToIncrementPosition(0.0, 0.0, 0.0)
 
     except KeyboardInterrupt:
         client.Move(0.0, 0.0, 0.0)

unitree_sdk2py/go2/obstacles_avoid/obstacles_avoid_client.py

@@ -57,4 +57,24 @@ def UseRemoteCommandFromApi(self, isRemoteCommandsFromApi: bool):
         p["is_remote_commands_from_api"] = isRemoteCommandsFromApi
         parameter = json.dumps(p)
         code, data = self._Call(OBSTACLES_AVOID_API_ID_USE_REMOTE_COMMAND_FROM_API, parameter)
+        return code
+    
+    def MoveToAbsolutePosition(self, vx: float, vy: float, vyaw: float):
+        p = {}
+        p["x"] = vx
+        p["y"] = vy
+        p["yaw"] = vyaw
+        p["mode"] = 2
+        parameter = json.dumps(p)
+        code = self._CallNoReply(OBSTACLES_AVOID_API_ID_MOVE, parameter)
+        return code
+        
+    def MoveToIncrementPosition(self, vx: float, vy: float, vyaw: float):
+        p = {}
+        p["x"] = vx
+        p["y"] = vy
+        p["yaw"] = vyaw
+        p["mode"] = 1
+        parameter = json.dumps(p)
+        code = self._CallNoReply(OBSTACLES_AVOID_API_ID_MOVE, parameter)
         return code