How to move only one leg / rotate body

[elpimous]

Humm, could you tell me what fonction I should use, or the variable to modify, to stop walking, and rotate body, or upper one leg, for example... If possible?
Thanks Derek

[Derek-TH-Wang]

use 'self.cpp_gait_ctrller.set_robot_mode' to stop walking,
rotate body, or upper one leg are not supported for now.

[elpimous]

Thanks Derek