Go2Py_SIM/examples/02-MuJoCo-sim.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "from Go2Py.sim.mujoco import Go2Sim\n",
    "import numpy as np"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "robot = Go2Sim()\n",
    "robot.standUpReset()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "robot.getJointStates()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "import mujoco\n",
    "import time\n",
    "robot.standUpReset()\n",
    "for i in range(100000):\n",
    "    state = robot.getJointStates()\n",
    "    tau = 20*np.eye(12)@(robot.q0 - state['q']).reshape(12,1)\n",
    "    robot.setCommands(np.zeros(12), np.zeros(12), np.zeros(12), np.zeros(12), tau)\n",
    "    robot.step()"
   ]
  }
 ],
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