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Go2Py
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a flag added to the interface classes to indicate if it's simulated or real

This commit is contained in:
Rooholla-KhorramBakht 2024-03-18 16:38:31 -04:00
parent 1226e32616
commit 8b550c33c3
4 changed files with 12 additions and 8 deletions
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2
Go2Py/robot/interface/dds.py
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@ -29,7 +29,7 @@ class GO2Real():
self.mode = mode self.mode = mode
if self.mode == 'highlevel': if self.mode == 'highlevel':
raise NotImplementedError('DDS interface for the highlevel commands is not implemented yet. Please use our ROS2 interface.') raise NotImplementedError('DDS interface for the highlevel commands is not implemented yet. Please use our ROS2 interface.')
self.simulated = False
self.highcmd_topic_name = "rt/go2/twist_cmd" self.highcmd_topic_name = "rt/go2/twist_cmd"
self.lowcmd_topic_name = "rt/go2/lowcmd" self.lowcmd_topic_name = "rt/go2/lowcmd"
self.lowstate_topic_name = "rt/lowstate" self.lowstate_topic_name = "rt/lowstate"

1
Go2Py/robot/interface/ros2.py
View File

@ -66,6 +66,7 @@ class GO2Real(Node):
ωz_max=0.5, ωz_max=0.5,
): ):
assert mode in ['highlevel', 'lowlevel'], "mode should be either 'highlevel' or 'lowlevel'" assert mode in ['highlevel', 'lowlevel'], "mode should be either 'highlevel' or 'lowlevel'"
self.simulated = False
self.mode = mode self.mode = mode
self.node_name = "go2py_highlevel_subscriber" self.node_name = "go2py_highlevel_subscriber"
self.highcmd_topic = "/go2/twist_cmd" self.highcmd_topic = "/go2/twist_cmd"

1
Go2Py/sim/mujoco.py
View File

@ -15,6 +15,7 @@ class Go2Sim:
self.model = mujoco.MjModel.from_xml_path( self.model = mujoco.MjModel.from_xml_path(
os.path.join(ASSETS_PATH, 'mujoco/go2.xml') os.path.join(ASSETS_PATH, 'mujoco/go2.xml')
) )
self.simulated = True
self.data = mujoco.MjData(self.model) self.data = mujoco.MjData(self.model)
self.dt = dt self.dt = dt
_render_dt = 1/60 _render_dt = 1/60

16
examples/fsm.ipynb
View File

@ -184,9 +184,10 @@
" self.running = True\n", " self.running = True\n",
" self.fsm_thread = threading.Thread(target = self.update)\n", " self.fsm_thread = threading.Thread(target = self.update)\n",
" self.fsm_thread.start()\n", " self.fsm_thread.start()\n",
"\n", " # if the robot is a simulation, create a thread for stepping it\n",
" self.sim_thread = threading.Thread(target=self.simUpdate)\n", " if robot.simulated:\n",
" self.sim_thread.start()\n", " self.sim_thread = threading.Thread(target=self.simUpdate)\n",
" self.sim_thread.start()\n",
"\n", "\n",
" def setMode(self, mode):\n", " def setMode(self, mode):\n",
" assert mode in self.modes.keys(), 'the requested control update mode is not implemented'\n", " assert mode in self.modes.keys(), 'the requested control update mode is not implemented'\n",
@ -228,6 +229,10 @@
" time.sleep(self.dT)\n", " time.sleep(self.dT)\n",
" self.updateCommands()\n", " self.updateCommands()\n",
" \n", " \n",
" def close(self):\n",
" self.running = False\n",
"\n",
" # The following functions each are the states of the FSM\n",
" def damping(self):\n", " def damping(self):\n",
" # print('damping')\n", " # print('damping')\n",
" if self.remote.standUpDownSeq():\n", " if self.remote.standUpDownSeq():\n",
@ -288,10 +293,7 @@
" def switch_back_to_locked_stance(self):\n", " def switch_back_to_locked_stance(self):\n",
" if time.time()-self.timer > 0.5:\n", " if time.time()-self.timer > 0.5:\n",
" # print(\"going back to locked stance\")\n", " # print(\"going back to locked stance\")\n",
" self.state = \"locked_stance\"\n", " self.state = \"locked_stance\""
" \n",
" def close(self):\n",
" self.running = False"
] ]
}, },
{ {