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