From f4383f491b0ec5e776b3af588ac0c3e7ab2edf96 Mon Sep 17 00:00:00 2001 From: Rooholla-Khorrambakht Date: Mon, 20 May 2024 18:56:02 -0400 Subject: [PATCH] fix spelling errors --- Go2Py/joy.py | 2 +- Go2Py/robot/model.py | 2 +- Go2Py/sim/gym/envs/base/curriculum.py | 2 +- Go2Py/sim/gym/envs/base/legged_robot.py | 12 ++++++------ Go2Py/sim/gym/envs/base/legged_robot_config.py | 4 ++-- README.md | 2 +- deploy/ros2_nodes/sportmode_nav2/params/ros_ekf.yaml | 2 +- scripts/run_dev.sh | 4 ++-- 8 files changed, 15 insertions(+), 15 deletions(-) diff --git a/Go2Py/joy.py b/Go2Py/joy.py index cb8de9d..ae44072 100644 --- a/Go2Py/joy.py +++ b/Go2Py/joy.py @@ -49,7 +49,7 @@ class xRockerBtn: class PyGameJoyManager: def __init__(self, user_callback=None): - self.dt = 0.01 # Sampling frequence of the joystick + self.dt = 0.01 # Sampling frequency of the joystick self.running = False self.joy_thread_handle = threading.Thread(target=self.joy_thread) # an optional callback that can be used to send the reading values to a diff --git a/Go2Py/robot/model.py b/Go2Py/robot/model.py index 9bee225..2a651f2 100644 --- a/Go2Py/robot/model.py +++ b/Go2Py/robot/model.py @@ -82,7 +82,7 @@ class Go2Model: Calculates the inverse kinematics for the robot given a desired state. Args: - T (np.ndarray): The 4x4 homogenous transformation representing the pose of the base_link in the world frame + T (np.ndarray): The 4x4 homogeneous transformation representing the pose of the base_link in the world frame x (np.ndarray): A numpy array of size 12 representing foot positions in world frame in FR, FL, RR, RL order. Returns: diff --git a/Go2Py/sim/gym/envs/base/curriculum.py b/Go2Py/sim/gym/envs/base/curriculum.py index 2970a3b..665aea6 100644 --- a/Go2Py/sim/gym/envs/base/curriculum.py +++ b/Go2Py/sim/gym/envs/base/curriculum.py @@ -21,7 +21,7 @@ class Curriculum: self.grid <= high[:, None] ).all(axis=0) - assert len(inds) != 0, "You are intializing your distribution with an empty domain!" + assert len(inds) != 0, "You are initializing your distribution with an empty domain!" self.weights[inds] = value diff --git a/Go2Py/sim/gym/envs/base/legged_robot.py b/Go2Py/sim/gym/envs/base/legged_robot.py index 5f60f58..3c8f956 100755 --- a/Go2Py/sim/gym/envs/base/legged_robot.py +++ b/Go2Py/sim/gym/envs/base/legged_robot.py @@ -20,7 +20,7 @@ class LeggedRobot(BaseTask): initial_dynamics_dict=None): """ Parses the provided config file, calls create_sim() (which creates, simulation, terrain and environments), - initilizes pytorch buffers used during training + initializes pytorch buffers used during training Args: cfg (Dict): Environment config file @@ -513,7 +513,7 @@ class LeggedRobot(BaseTask): self.privileged_obs_buf.shape[1]}), you will discard data from the student!" def create_sim(self): - """ Creates simulation, terrain and evironments + """ Creates simulation, terrain and environments """ self.up_axis_idx = 2 # 2 for z, 1 for y -> adapt gravity accordingly self.sim = self.gym.create_sim( @@ -1123,7 +1123,7 @@ class LeggedRobot(BaseTask): Velocities are set to zero. Args: - env_ids (List[int]): Environemnt ids + env_ids (List[int]): Environment ids """ self.dof_pos[env_ids] = self.default_dof_pos * \ torch_rand_float(0.5, 1.5, (len(env_ids), self.num_dof), device=self.device) @@ -1142,7 +1142,7 @@ class LeggedRobot(BaseTask): Sets base position based on the curriculum Selects randomized base velocities within -0.5:0.5 [m/s, rad/s] Args: - env_ids (List[int]): Environemnt ids + env_ids (List[int]): Environment ids """ # base position if self.custom_origins: @@ -1725,7 +1725,7 @@ class LeggedRobot(BaseTask): curriculum.set_to(low=low, high=high) def _prepare_reward_function(self): - """ Prepares a list of reward functions, whcih will be called to compute the total reward. + """ Prepares a list of reward functions, which will be called to compute the total reward. Looks for self._reward_, where are names of all non zero reward scales in the cfg. """ # reward containers @@ -2187,7 +2187,7 @@ class LeggedRobot(BaseTask): gymutil.draw_lines(sphere_geom, self.gym, self.viewer, self.envs[i], sphere_pose) def _init_height_points(self, env_ids, cfg): - """ Returns points at which the height measurments are sampled (in base frame) + """ Returns points at which the height measurements are sampled (in base frame) Returns: [torch.Tensor]: Tensor of shape (num_envs, self.num_height_points, 3) diff --git a/Go2Py/sim/gym/envs/base/legged_robot_config.py b/Go2Py/sim/gym/envs/base/legged_robot_config.py index 0ef22ce..6be8f81 100755 --- a/Go2Py/sim/gym/envs/base/legged_robot_config.py +++ b/Go2Py/sim/gym/envs/base/legged_robot_config.py @@ -9,7 +9,7 @@ class Cfg(PrefixProto, cli=False): num_observations = 235 num_scalar_observations = 42 # if not None a privilige_obs_buf will be returned by step() (critic obs - # for assymetric training). None is returned otherwise + # for asymmetric training). None is returned otherwise num_privileged_obs = 18 privileged_future_horizon = 1 num_actions = 12 @@ -228,7 +228,7 @@ class Cfg(PrefixProto, cli=False): # merge bodies connected by fixed joints. Specific fixed joints can be # kept by adding " <... dont_collapse="true"> collapse_fixed_joints = True - fix_base_link = False # fixe the base of the robot + fix_base_link = False # fix the base of the robot # see GymDofDriveModeFlags (0 is none, 1 is pos tgt, 2 is vel tgt, 3 effort) default_dof_drive_mode = 3 self_collisions = 0 # 1 to disable, 0 to enable...bitwise filter diff --git a/README.md b/README.md index 925437f..d6a3d7e 100644 --- a/README.md +++ b/README.md @@ -57,7 +57,7 @@ Follow through the steps here to [setup](docs/setup.md) the robot and Go2Py. A set of examples and tutorials are provided to get you up and running quickly: - [Communicating with the robot](examples/00-robot-interface.ipynb) -- [Interracting with ROS2](examples/01-ros2-tools.ipynb) +- [Interacting with ROS2](examples/01-ros2-tools.ipynb) - [Simulating with MuJoCo](examples/02-MuJoCo-sim.ipynb) - [Robot dynamics and kinematics](examples/03-robot-dynamic-model.ipynb) - [Finite state machine in low-level control](examples/04-FSM.ipynb) diff --git a/deploy/ros2_nodes/sportmode_nav2/params/ros_ekf.yaml b/deploy/ros2_nodes/sportmode_nav2/params/ros_ekf.yaml index f1b2cfd..b72e643 100644 --- a/deploy/ros2_nodes/sportmode_nav2/params/ros_ekf.yaml +++ b/deploy/ros2_nodes/sportmode_nav2/params/ros_ekf.yaml @@ -111,7 +111,7 @@ ekf_filter_node: odom0_differential: false # [ADVANCED] When the node starts, if this parameter is true, then the first measurement is treated as a "zero point" -# for all future measurements. While you can achieve the same effect with the differential paremeter, the key +# for all future measurements. While you can achieve the same effect with the differential parameter, the key # difference is that the relative parameter doesn't cause the measurement to be converted to a velocity before # integrating it. If you simply want your measurements to start at 0 for a given sensor, set this to true. odom0_relative: true diff --git a/scripts/run_dev.sh b/scripts/run_dev.sh index fa33212..7b3ac14 100755 --- a/scripts/run_dev.sh +++ b/scripts/run_dev.sh @@ -85,7 +85,7 @@ fi # Check if git-lfs is installed. git lfs &>/dev/null if [[ $? -ne 0 ]] ; then - print_error "git-lfs is not insalled. Please make sure git-lfs is installed before you clone the repo." + print_error "git-lfs is not installed. Please make sure git-lfs is installed before you clone the repo." exit 1 fi @@ -115,7 +115,7 @@ if [ "$(docker ps -a --quiet --filter status=exited --filter name=$CONTAINER_NAM docker rm $CONTAINER_NAME > /dev/null fi -# Re-use existing container. +# Reuse existing container. if [ "$(docker ps -a --quiet --filter status=running --filter name=$CONTAINER_NAME)" ]; then print_info "Attaching to running container: $CONTAINER_NAME" docker exec -i -t -u admin --workdir /workspaces/Go2Py $CONTAINER_NAME /bin/bash $@