dds lowlevel interface example added and bug fixes

Go2Py/robot/interface/dds.py

@@ -71,10 +71,10 @@ class GO2Real():
     def getJointStates(self):
         """Returns the joint angles (q) and velocities (dq) of the robot"""
         motor_state = np.array([[self.state.motor_state[i].q,
-                         robot.state.motor_state[i].dq,
+                                 self.state.motor_state[i].dq,
-                         robot.state.motor_state[i].ddq,
+                                 self.state.motor_state[i].ddq,
-                         robot.state.motor_state[i].tau_est,
+                                 self.state.motor_state[i].tau_est,
-                         robot.state.motor_state[i].temperature] for i in range(12)])
+                                 self.state.motor_state[i].temperature] for i in range(12)])
         return {'q':motor_state[:,0], 
                 'dq':motor_state[:,1],
                 'ddq':motor_state[:,2],

examples/dds_draft.ipynb

@@ -124,7 +124,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 1,
+   "execution_count": null,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -150,7 +150,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 9,
+   "execution_count": null,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -312,52 +312,45 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 10,
+   "execution_count": null,
    "metadata": {},
    "outputs": [],
-   "source": [
+   "source": []
-    "robot = GO2Real()"
-   ]
   },
   {
    "cell_type": "code",
-   "execution_count": 12,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
+   "outputs": [],
-    {
-     "data": {
-      "text/plain": [
-       "64"
-      ]
-     },
-     "execution_count": 12,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
    "source": [
     "robot.getBatteryState()"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 8,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
+   "outputs": [],
-    {
-     "data": {
-      "text/plain": [
-       "BmsState_(version_high=1, version_low=9, status=8, soc=64, current=-1716, cycle=9, bq_ntc=b'\\x1e\\x1c', mcu_ntc=b' \\x1f', cell_vol=[3843, 3848, 3849, 3849, 3848, 3846, 3845, 3839, 0, 0, 0, 0, 0, 0, 0])"
-      ]
-     },
-     "execution_count": 8,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
    "source": [
-    "robot.state.bms_state"
+    "from Go2Py.robot.interface.dds import GO2Real\n",
+    "robot = GO2Real()"
    ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "robot.getIMU()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
   }
  ],
  "metadata": {

examples/lowlevel_dds_interface.ipynb

@@ -0,0 +1,92 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from Go2Py.robot.interface.dds import GO2Real\n",
+    "import time\n",
+    "robot = GO2Real(mode='lowlevel')"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import numpy as np\n",
+    "import time\n",
+    "for i in range(1000):\n",
+    "    q = np.zeros(12) \n",
+    "    dq = np.zeros(12)\n",
+    "    kp = np.zeros(12)\n",
+    "    kd = np.zeros(12)\n",
+    "    tau = np.zeros(12)\n",
+    "    tau[0] = -0.0\n",
+    "    robot.setCommands(q, dq, kp, kd, tau)\n",
+    "    time.sleep(0.01)    "
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "{'q': array([-0.04657429,  1.2569859 , -2.80100107,  0.02410829,  1.27012634,\n",
+       "        -2.79052782, -0.37551445,  1.27423871, -2.79706788,  0.34611496,\n",
+       "         1.28171718, -2.81962585]),\n",
+       " 'dq': array([ 0.00387552, -0.00775105,  0.00404402, -0.03100419, -0.00775105,\n",
+       "        -0.01011006, -0.04263076, -0.05425733,  0.01011006, -0.04263076,\n",
+       "        -0.00387552, -0.00808805]),\n",
+       " 'ddq': array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.]),\n",
+       " 'tau_est': array([-0.07421485,  0.12369141, -0.23707521, -0.12369141, -0.12369141,\n",
+       "         0.33190528,  0.02473828, -0.02473828, -0.14224511,  0.02473828,\n",
+       "        -0.04947656,  0.09483008]),\n",
+       " 'temperature': array([35., 31., 30., 34., 30., 30., 38., 32., 31., 38., 32., 31.])}"
+      ]
+     },
+     "execution_count": 3,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "robot.getJointStates()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.8.10"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 4
+}