EmbodiedAI
/
Go2Py_SIM
mirror of https://github.com/machines-in-motion/Go2Py.git
3
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

home positions for standing up and sitting down is added

This commit is contained in:
Rooholla-KhorramBakht 2024-03-14 00:42:02 -04:00
parent 0d7ca5b46d
commit 82c06daac2
3 changed files with 15 additions and 24 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

BIN
examples/data/sit_down.pkl Normal file
View File

Binary file not shown.

BIN
examples/data/standup.pkl Normal file
View File

Binary file not shown.

37
examples/lowlevel_dds_interface.ipynb
View File

@ -32,33 +32,24 @@
},
{
"cell_type": "code",
"execution_count": 3,
"execution_count": 4,
"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.])}"
"outputs": [],
"source": [
"import time\n",
"dataset = []\n",
"for i in range(10000):\n",
" sample = robot.getJointStates()\n",
" dataset.append(sample['q'])\n",
" time.sleep(0.01)"
]
},
"execution_count": 3,
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"robot.getJointStates()"
]
"outputs": [],
"source": []
},
{
"cell_type": "code",