[Unitree Go2] mode switch

Controllers
1

Hello,

I’m using unitree_sdk2py on a Go2 EDU Plus and need to transition from Sport Mode to Low-level control while the robot keeps its current standing posture.

Problem:
Calling ReleaseMode() causes all joint torques to drop momentarily before my low-level controller takes over, so the legs go slack and the robot risks falling — even when I stream low-level commands immediately after.
When switch mode(Low-level → Sport), calling SelectMode("normal") within ~10s of ReleaseMode() always returns error code 7002

Questions:

  1. Is there a supported way to do a bumpless Sport→Low-level handoff with no torque-free gap?
  2. Is the ~10s SelectMode() cooldown after ReleaseMode() intentional? Is there an API to query mode-switch readiness instead of guessing based on elapsed time?
  3. Is there a recommended way to return from Low-level control to standing Sport Mode without going through RecoveryStand()?

Robot info: Go2 EDU Plus, unitree_sdk2py