ezgo 0.0.17__py3-none-any.whl → 0.0.18__py3-none-any.whl

ezgo/go2.py

@@ -293,11 +293,6 @@ class Go2:
         vy = max(-1.0, min(1.0, vy))  # 左右速度限制在-1到1之间
         vyaw = max(-2.0, min(2.0, vyaw))  # 转动速度限制在-2到2之间
 
-        # 如果设置了步态模式，在移动前保持该模式
-        with self._gait_mode_lock:
-            if self._gait_mode is not None:
-                self._maintain_gait_mode()
-
         def move_thread():
             ret = self.sport_client.Move(vx, vy, vyaw)
             success = ret == 0
@@ -327,6 +322,14 @@ class Go2:
 
         try:
             while time.time() - start_time < duration:
+                # 如果设置了步态模式，先保持该模式
+                with self._gait_mode_lock:
+                    if self._gait_mode is not None:
+                        self._maintain_gait_mode()
+
+                # 短暂延迟，让步态模式生效
+                time.sleep(0.02)
+
                 if not self.Move(vx, vy, vyaw):
                     return False
                 time.sleep(0.1)  # 每100ms调用一次
@@ -395,6 +398,10 @@ class Go2:
                 with self._gait_mode_lock:
                     if self._gait_mode is not None:
                         self._maintain_gait_mode()
+
+                # 短暂延迟，让步态模式生效
+                time.sleep(0.02)
+
                 try:
                     ret = self.sport_client.Move(vx, vy, vyaw)
                     success = ret == 0
@@ -737,6 +744,7 @@ class Go2:
         """保持当前的步态模式（内部函数）"""
         if self._gait_mode == 'trot':
             try:
+                # 使用_call确保同步执行
                 self.sport_client.TrotRun()
             except:
                 pass

{ezgo-0.0.17.dist-info → ezgo-0.0.18.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: ezgo
-Version: 0.0.17
+Version: 0.0.18
 Summary: 宇树Go2机器狗Python控制库
 Author-email: ezgo <noreply@example.com>
 License: MIT
@@ -437,6 +437,16 @@ pip install opencv-python numpy Pillow netifaces
 
 ## 更新日志
 
+### v0.0.18 (2026-02-04)
+**修复**:
+- 🐛 修复步态模式保持机制，确保在每次 Move 调用前都正确保持步态
+- 🐛 在 MoveForDuration 和 StartMove 循环中添加步态模式保持逻辑
+- 🐛 添加短暂延迟让步态模式生效后再执行 Move 指令
+
+**改进**:
+- 🔧 优化步态保持时序，确保步态模式在移动前完全生效
+- 🔧 移除 Move 函数内部不必要的步态保持调用，避免重复
+
 ### v0.0.17 (2026-02-04)
 **新增功能**:
 - ✨ 常规运动模式（`TrotRun`、`StaticWalk`、`EconomicGait`）现在支持持续保持

{ezgo-0.0.17.dist-info → ezgo-0.0.18.dist-info}/RECORD

@@ -2,12 +2,12 @@ ezgo/__init__.py,sha256=XdJGNtFRNZwouVByMsopJ7APB23zkdAa7v5NvLrcpLw,2268
 ezgo/camera.py,sha256=Vsr44vFtaop4LE0DlWyOHyvxF-jHnVO8iMPUwp5mbsE,2538
 ezgo/ezcamera.py,sha256=6-3y-1X_L60QsWdsd5-caLoj7Quy9rpyHdp3Tq3JFbU,6536
 ezgo/eztk.py,sha256=MHWkkZYIL1AFjUXFu2Qq8U9idJV_E1VxFUBe82dvbyA,10463
-ezgo/go2.py,sha256=hIu5OMjQ3hJNFF9rXY03dSILv_sEeJi02MrCCAuQpDA,33512
+ezgo/go2.py,sha256=Ccx4WKFre7kjtADTUDz8ky1YRuOkSRjutBGxz7fOPHE,33770
 ezgo/go2_camera.py,sha256=nawUSLyvqTNiVRQ2sM-UdoJzqwZcySltLbCfUb0G9Qc,8614
 ezgo/go2_vui.py,sha256=52I4Y8uqGkW9muDEnDzQ236HqVVTIgNIN_2gW5RTC48,10161
 ezgo/ui.py,sha256=jUik6maaoemI2vsBM92OLZfJfskg54W7hwMls_gxppg,2777
-ezgo-0.0.17.dist-info/LICENSE,sha256=Zk4eZBT3KaBhqM3LB_xN7QquwnoWsEHAoA6eLdE6W5M,1060
-ezgo-0.0.17.dist-info/METADATA,sha256=1H0XVKBVN1FhH35Rid_fCmiWtisgqDPJNMJ6vhyBORU,19901
-ezgo-0.0.17.dist-info/WHEEL,sha256=WnJ8fYhv8N4SYVK2lLYNI6N0kVATA7b0piVUNvqIIJE,91
-ezgo-0.0.17.dist-info/top_level.txt,sha256=BdCFEVD5V_4FxUtvH0BVlZKgxYnp7EKNsYs5OyFxj-g,5
-ezgo-0.0.17.dist-info/RECORD,,
+ezgo-0.0.18.dist-info/LICENSE,sha256=Zk4eZBT3KaBhqM3LB_xN7QquwnoWsEHAoA6eLdE6W5M,1060
+ezgo-0.0.18.dist-info/METADATA,sha256=DnPe457ryYE6uMjnfqvUWW8TWCuBRZa3RTfJI198JY0,20360
+ezgo-0.0.18.dist-info/WHEEL,sha256=WnJ8fYhv8N4SYVK2lLYNI6N0kVATA7b0piVUNvqIIJE,91
+ezgo-0.0.18.dist-info/top_level.txt,sha256=BdCFEVD5V_4FxUtvH0BVlZKgxYnp7EKNsYs5OyFxj-g,5
+ezgo-0.0.18.dist-info/RECORD,,