Movement Module#

This module provides high-level movement controls for the dog robot.

Users should interact only with the MovementModule class to command the robot. It wraps the underlying hardware interface and performs safety checks to prevent unsafe motions.

class go2.modules.movement.movement_module.MovementModule(hardware: HardwareInterfaceMovement)[source]#

Bases: DogModule

Users should not access or construct this class directly. Rather, they should access it through the Go2Controller instance.

Important

  • Virtual and native movement commands may not function exactly the same way. Their behavior is not fully transitive across backends, so they should be used with care when switching between them.

Parameters:

hardware (HardwareInterfaceMovement) – The underlying movement hardware interface that communicates with the robot.

auto_recovery_set(enabled: bool) → None[source]#

Set auto recovery mode.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

back_flip() → None[source]#

Command the robot to perform back flip.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

balance_stand() → None[source]#

Command the robot to balance stand.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

classic_walk(flag: bool) → None[source]#

Set classic walk mode.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

content() → None[source]#

Command the robot to perform content.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

cross_step(flag: bool) → None[source]#

Set cross step mode.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

damp() → None[source]#

Command the robot to damp.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

dance1() → None[source]#

Command the robot to perform dance1.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

dance2() → None[source]#

Command the robot to perform dance2.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

euler(roll: float, pitch: float, yaw: float) → None[source]#

Set the robot’s Euler angles.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

free_avoid(flag: bool) → None[source]#

Set free avoid mode.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

free_bound(flag: bool) → None[source]#

Set free bound mode.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

free_jump(flag: bool) → None[source]#

Set free jump mode.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

free_walk() → None[source]#

Command the robot to free walk.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

front_flip() → None[source]#

Command the robot to perform front flip.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

front_jump() → None[source]#

Command the robot to perform front jump.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

front_pounce() → None[source]#

Command the robot to perform front pounce.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

get_auto_recovery() → Tuple[int, bool | None][source]#

Get auto recovery status.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

hand_stand(flag: bool) → None[source]#

Set hand stand mode.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

heart() → None[source]#

Command the robot to perform heart.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

hello() → None[source]#

Command the robot to perform hello.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

left_flip() → None[source]#

Command the robot to perform left flip.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

move(amount_x: float = 0.0, amount_y: float = 0.0) → None[source]#

Move the robot forward/backward and laterally.

Parameters:

  • amount_x (float, optional) – Forward/backward movement amount. Positive is forward. Automatically clamped to [-max_translation, max_translation].

  • amount_y (float, optional) – Lateral movement amount. Positive is right. Automatically clamped to [-max_translation, max_translation].

Notes

  • Movements are relative to the robot’s current orientation.

pose(flag: bool) → None[source]#

Set pose mode.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

recovery_stand() → None[source]#

Command the robot to recovery stand.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

rise_sit() → None[source]#

Command the robot to rise from sit.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

rotate(amount: float) → None[source]#

Rotate the robot around its yaw axis.

Parameters:

amount (float) – Desired rotation amount. Automatically clamped to [-max_rotation, max_rotation].

Notes

  • The rotation is relative to the robot’s current orientation.

scrape() → None[source]#

Command the robot to scrape.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

sit() → None[source]#

Command the robot to sit.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

speed_level(level: int) → None[source]#

Set the robot’s speed level.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

stand_down() → None[source]#

Command the robot to lay down.

stand_up() → None[source]#

Command the robot to stand up.

Notes

  • It’s best practice to wait a second after standing up before issuing movement commands.

static_walk() → None[source]#

Command the robot to static walk.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

stop() → None[source]#

Stop all robot movement immediately.

Notes

  • Can be called at any time to halt translation and rotation. Can be used to clear internal command buffer.

stretch() → None[source]#

Command the robot to stretch.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

switch_avoid_mode() → None[source]#

Switch avoid mode.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

switch_joystick(on: bool) → None[source]#

Switch joystick mode.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

trot_run() → None[source]#

Command the robot to trot run.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

walk_upright(flag: bool) → None[source]#

Set walk upright mode.

Important

This command is not supported when HardwareType.VIRTUAL is selected and will raise NotImplementedError.

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