[Unitree Go2] Where can I find the Unitree Go2 SDK with methods like ClassicWalk(), TrotRun(), and StaticWalk()?

Software
1

I have been exploring the Unitree Go2 SDK and noticed that some commonly referenced gait-related methods such as:

  • ClassicWalk(bool)
  • StaticWalk()
  • TrotRun()
  • SwitchAvoidMode()

do not appear in the current SDK headers, specifically in the SportClient class (sport_client.hpp). Instead, the available methods include others like Move(), SwitchGait(int), ContinuousGait(bool), and EconomicGait(bool).

When attempting to use those missing methods, I encounter compilation errors indicating these methods do not exist in the SDK.

Could someone clarify:

  1. Whether these methods ever existed in any released version of the SDK?
  2. If they have been deprecated or removed, what are the correct replacements or equivalent functions?
  3. Where can I find documentation or a version of the SDK that includes these gait control methods if they exist?

Any pointers or official references would be very helpful.

Thanks!

2

The code you are looking for is legacy and is no longer available nor works with the latest software.

These are the correct ones and works with the latest firmware 1.9+

Yes these were used in fimrware versions before 1.9

Now there is no sportsmode or requirement to switch, all you need to do is switch gaits.

You can reference the qre_go2 repository or Unitree SDK2.0. Generally, the default mode is the Classic gait in the newer version. If you are not our customer then the Unitree SDK2.0 can be referenced.

It is mentioned in Unitree docs and their SDK but i find it easier to just test it out directly.

3

Thank you for the response, can I know where can I update the firmware and which firmware are you referencing to, also it would be very helpful if you could guide me on updating the firmware to the latest.

4

When you install the app the update instructions are automatically displayed just ensure that the go2 is connectd to a WiFi router with internet.