[Unitree B2-W] High / Low level

[Garfiey]

Hello,

I would like to use B2-W for movements like:

• raise one of its legs (front and also back) - can this be done with high level of Unitree SDK or no ?
• change the Roll, Pitch, Yaw angles its facing like when in select mode from joystick control but now I would like to set it with some command via script. Is it possible with high level or do I need to go down to the low level joint control ? Could ROS repo be used for this ?

I have found BalanceStand. however it looks like this only works with standard B2 ?
Even though when sending services calls for VisualWalk it return -1. Could you explain why ? I have read that the robot is not in the right mode but I have tried to put it in AI and also sportmode.

Thank you for your answer

[Sohail]

@Garfiey

raise one of its legs (front and also back) - can this be done with high level of Unitree SDK or no ?

Standing in two feet. It should be possible from their SDK you can see their docs for more info on that.

@Garfiey

change the Roll, Pitch, Yaw angles its facing like when in select mode from joystick control but now I would like to set it with some command via script. Is it possible with high level or do I need to go down to the low level joint control ? Could ROS repo be used for this ?

It should be possible using the high-level sdk as well. You may have to look into included libraries of the sdk.

@Garfiey

I have found BalanceStand. however it looks like this only works with standard B2 ?
Even though when sending services calls for VisualWalk it return -1.

Balance stand is that when it gets up from the ground, it switches to RL self balancing mode not as in balancing on the front 2 wheels.
A.I and sports mode is highly dependent on the B2’s current firmware. In a few versions they arent and in some versions they are and in the latest versions they are combined.