gistfile1.txt

import booster_robotics_sdk_python as B


def set_global(name, value):
    globals()[name] = value


@globalize_locals
def _init_communication() -> None:
    if not "INITIALIZED" in globals():
        B.ChannelFactory.Instance().Init(0)

        # low_cmd_publisher = B1LowCmdPublisher()
        # low_cmd_publisher.InitChannel()
        # low_cmd = LowCmd()

        client = B.B1LocoClient()
        client.Init()

        handler = partial(set_global, "low_state")  # Low Level State
        low_state_subscriber = B.B1LowStateSubscriber(handler)
        low_state_subscriber.InitChannel()

        INITIALIZED = True


def set_mode_custom (): return client.ChangeMode(B.RobotMode.kCustom )
def set_mode_prepare(): return client.ChangeMode(B.RobotMode.kPrepare)

_init_communication()