Support 1.5.2

Cargo.toml

@@ -3,7 +3,7 @@ members = ["booster_sdk", "booster_sdk_py", "examples/rust/*"]
 resolver = "2"
 
 [workspace.package]
-version = "0.1.0-alpha.11"
+version = "0.1.0-alpha.12"
 edition = "2024"
 authors = ["Team whIRLwind"]
 license = "MIT OR Apache-2.0"

booster_sdk/src/client/loco.rs

@@ -372,6 +372,30 @@ impl BoosterClient {
         self.rpc.call_void(LocoApiId::ExitWbcGait, "").await
     }
 
+    /// Move both hand end-effectors to target postures simultaneously.
+    pub async fn move_dual_hand_end_effector(
+        &self,
+        left_target_posture: &crate::types::Posture,
+        right_target_posture: &crate::types::Posture,
+        time_millis: i32,
+    ) -> Result<()> {
+        let param = json!({
+            "left_target_posture": left_target_posture,
+            "right_target_posture": right_target_posture,
+            "time_millis": time_millis,
+        })
+        .to_string();
+        self.rpc
+            .call_void(LocoApiId::MoveDualHandEndEffector, param)
+            .await
+    }
+
+    /// Start or stop a visual kick (side-foot kick).
+    pub async fn visual_kick(&self, start: bool) -> Result<()> {
+        let param = json!({ "start": start }).to_string();
+        self.rpc.call_void(LocoApiId::VisualKick, param).await
+    }
+
     /// Publish a raw gripper control topic message.
     pub fn publish_gripper(&self, control: GripperControl) -> Result<()> {
         self.gripper_publisher.write(control)

booster_sdk/src/types/b1.rs

@@ -41,6 +41,8 @@ crate::api_id_enum! {
         UnloadCustomTrainedTraj = 2034,
         EnterWbcGait = 2035,
         ExitWbcGait = 2036,
+        MoveDualHandEndEffector = 2037,
+        VisualKick = 2038,
     }
 }
 

booster_sdk_py/booster_sdk_bindings/booster_sdk_bindings.pyi

@@ -1047,6 +1047,19 @@ class BoosterClient:
         """Exit WBC gait mode."""
         ...
 
+    def move_dual_hand_end_effector(
+        self,
+        left_target_posture: Posture,
+        right_target_posture: Posture,
+        time_millis: int,
+    ) -> None:
+        """Move both hand end-effectors to target postures simultaneously."""
+        ...
+
+    def visual_kick(self, start: bool) -> None:
+        """Start or stop a visual kick (side-foot kick)."""
+        ...
+
     def publish_gripper_command(self, command: GripperCommand) -> None:
         """Publish low-level gripper command message."""
         ...

booster_sdk_py/src/client/booster.rs

@@ -1626,6 +1626,33 @@ impl PyBoosterClient {
         wait_for_future(py, async move { client.exit_wbc_gait().await }).map_err(to_py_err)
     }
 
+    fn move_dual_hand_end_effector(
+        &self,
+        py: Python<'_>,
+        left_target_posture: PyPosture,
+        right_target_posture: PyPosture,
+        time_millis: i32,
+    ) -> PyResult<()> {
+        let client = Arc::clone(&self.client);
+        let left_target_posture: Posture = left_target_posture.into();
+        let right_target_posture: Posture = right_target_posture.into();
+        wait_for_future(py, async move {
+            client
+                .move_dual_hand_end_effector(
+                    &left_target_posture,
+                    &right_target_posture,
+                    time_millis,
+                )
+                .await
+        })
+        .map_err(to_py_err)
+    }
+
+    fn visual_kick(&self, py: Python<'_>, start: bool) -> PyResult<()> {
+        let client = Arc::clone(&self.client);
+        wait_for_future(py, async move { client.visual_kick(start).await }).map_err(to_py_err)
+    }
+
     fn publish_gripper_command(&self, command: PyGripperCommand) -> PyResult<()> {
         let command: GripperCommand = command.into();
         self.client

pixi.toml

@@ -3,7 +3,7 @@ authors = ["Team whIRLwind"]
 channels = ["conda-forge"]
 name = "booster-sdk"
 platforms = ["osx-arm64", "linux-64", "linux-aarch64"]
-version = "0.1.0-alpha.11"
+version = "0.1.0-alpha.12"
 
 [environments]
 py = ["wheel-build", "python-tasks"]