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dds message problem fixed

This commit is contained in:
Rooholla-KhorramBakht 2024-05-04 21:14:41 -04:00
parent dd93a5ffd4
commit 890edeb97f
33 changed files with 261 additions and 232 deletions
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3
.gitmodules vendored
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@ -1,3 +0,0 @@
[submodule "deploy/isaac_ws/src/isaac_ros_common"]
path = deploy/isaac_ws/src/isaac_ros_common
url = https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common.git

4
Go2Py/robot/interface/dds.py
View File

@ -6,7 +6,8 @@ import numpy.linalg as LA
from scipy.spatial.transform import Rotation as R from scipy.spatial.transform import Rotation as R
from cyclonedds.domain import DomainParticipant from cyclonedds.domain import DomainParticipant
from Go2Py.unitree_go.msg.dds_ import Go2pyLowCmd_ from go2py_common.msg.dds_ import Go2pyLowCmd_
from unitree_go.msg.dds_ import LowState_
from cyclonedds.topic import Topic from cyclonedds.topic import Topic
from cyclonedds.pub import DataWriter from cyclonedds.pub import DataWriter
@ -14,7 +15,6 @@ from cyclonedds.domain import DomainParticipant
from cyclonedds.topic import Topic from cyclonedds.topic import Topic
from cyclonedds.sub import DataReader from cyclonedds.sub import DataReader
from cyclonedds.util import duration from cyclonedds.util import duration
from Go2Py.unitree_go.msg.dds_ import LowState_
from threading import Thread from threading import Thread
from scipy.spatial.transform import Rotation from scipy.spatial.transform import Rotation
from Go2Py.joy import xKeySwitch, xRockerBtn from Go2Py.joy import xKeySwitch, xRockerBtn

2
msg_sources/idls/BmsState_.idl → dds_messages/idls/BmsState_.idl
View File

@ -4,7 +4,6 @@
#ifndef __unitree_go__msg__bms_state__idl__ #ifndef __unitree_go__msg__bms_state__idl__
#define __unitree_go__msg__bms_state__idl__ #define __unitree_go__msg__bms_state__idl__
module Go2Py {
module unitree_go { module unitree_go {
module msg { module msg {
@ -47,5 +46,4 @@ unsigned short cell_vol[15]; //电池内部15节电池的电压。
}; // module msg }; // module msg
}; // module unitree_go }; // module unitree_go
};
#endif // __unitree_go__msg__bms_state__idl__ #endif // __unitree_go__msg__bms_state__idl__

4
msg_sources/idls/Go2pyLowCmd.idl → dds_messages/idls/Go2pyLowCmd.idl
View File

@ -1,4 +1,4 @@
module unitree_go { module go2py_common {
module msg { module msg {
module dds_{ module dds_{
@final struct Go2pyLowCmd_ { @final struct Go2pyLowCmd_ {
@ -10,4 +10,4 @@ module unitree_go {
}; };
}; };
}; };
}; };

3
msg_sources/idls/IMUState_.idl → dds_messages/idls/IMUState_.idl
View File

@ -4,8 +4,6 @@
#ifndef __unitree_go__msg__imu_state__idl__ #ifndef __unitree_go__msg__imu_state__idl__
#define __unitree_go__msg__imu_state__idl__ #define __unitree_go__msg__imu_state__idl__
module Go2Py {
module unitree_go { module unitree_go {
module msg { module msg {
@ -32,5 +30,4 @@ octet temperature; //IMU 温度信息（摄氏度）。
}; // module msg }; // module msg
}; // module unitree_go }; // module unitree_go
};
#endif // __unitree_go__msg__imu_state__idl__ #endif // __unitree_go__msg__imu_state__idl__

4
msg_sources/idls/LowState_.idl → dds_messages/idls/LowState_.idl
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@ -7,9 +7,6 @@
#ifndef __unitree_go__msg__low_state__idl__ #ifndef __unitree_go__msg__low_state__idl__
#define __unitree_go__msg__low_state__idl__ #define __unitree_go__msg__low_state__idl__
module Go2Py {
module unitree_go { module unitree_go {
module msg { module msg {
@ -70,5 +67,4 @@ unsigned long crc; //数据CRC校验用。
}; // module msg }; // module msg
}; // module unitree_go }; // module unitree_go
};
#endif // __unitree_go__msg__low_state__idl__ #endif // __unitree_go__msg__low_state__idl__

3
msg_sources/idls/MotorState_.idl → dds_messages/idls/MotorState_.idl
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@ -4,8 +4,6 @@
#ifndef __unitree_go__msg__motor_state__idl__ #ifndef __unitree_go__msg__motor_state__idl__
#define __unitree_go__msg__motor_state__idl__ #define __unitree_go__msg__motor_state__idl__
module Go2Py {
module unitree_go { module unitree_go {
module msg { module msg {
@ -36,5 +34,4 @@ unsigned long reserve[2]; //当前电机通信频率+电机错误标志位：
}; // module msg }; // module msg
}; // module unitree_go }; // module unitree_go
};
#endif // __unitree_go__msg__motor_state__idl__ #endif // __unitree_go__msg__motor_state__idl__

18
dds_messages/make_msgs.sh Executable file
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@ -0,0 +1,18 @@
#!/bin/bash
GREEN='\033[0;32m'
NC='\033[0m' # No Color
echo -e "${GREEN} Starting DDS type generation...${NC}"
# Clean
rm -r ../unitree_go
rm -r ../go2py_common
# Make
for file in idls/*.idl
do
echo "Processing $file file..."
idlc -l py $file
done
mv unitree_go ../
mv go2py_common ../

99
examples/00-robot-interface-DDS.ipynb Normal file
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@ -0,0 +1,99 @@
{
"cells": [
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Lowlevel Control"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"import unitree_go\n",
"unitree_go.__file__"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"from Go2Py.robot.interface.dds import GO2Real\n",
"import time\n",
"robot = GO2Real(mode='lowlevel')"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"robot.getJointStates()"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"import numpy as np\n",
"import time\n",
"for i in range(1000000):\n",
" q = np.zeros(12) \n",
" dq = np.zeros(12)\n",
" kp = np.ones(12)*0.0\n",
" kd = np.ones(12)*0.0\n",
" tau = np.zeros(12)\n",
" tau[0] = 0.0\n",
" robot.setCommands(q, dq, kp, kd, tau)\n",
" time.sleep(0.01) "
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Highlevel Control"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"from Go2Py.robot.interface.dds import GO2Real\n",
"import time\n",
"robot = GO2Real(mode='highlevel')"
]
}
],
"metadata": {
"kernelspec": {
"display_name": "Python 3",
"language": "python",
"name": "python3"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 3
},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.8.18"
}
},
"nbformat": 4,
"nbformat_minor": 4
}

132
examples/00-robot-interface-dds.ipynb
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@ -1,132 +0,0 @@
{
"cells": [
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Lowlevel Control"
]
},
{
"cell_type": "code",
"execution_count": 1,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"pygame 2.5.2 (SDL 2.28.2, Python 3.8.18)\n",
"Hello from the pygame community. https://www.pygame.org/contribute.html\n"
]
}
],
"source": [
"from Go2Py.robot.interface.dds import GO2Real\n",
"import time\n",
"robot = GO2Real(mode='lowlevel')"
]
},
{
"cell_type": "code",
"execution_count": 3,
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"{'q': array([-0.04851204, 1.25695562, -2.80253339, 0.05441612, 1.24787235,\n",
" -2.78187132, -0.34375334, 1.27221012, -2.80291271, 0.32734287,\n",
" 1.27893162, -2.81329131]),\n",
" 'dq': array([ 0.03875524, 0.0155021 , 0.0323522 , 0.07363495, 0.02712867,\n",
" -0.0161761 , 0.01937762, 0.03487971, 0.00808805, -0.03487971,\n",
" 0. , 0.02628616]),\n",
" 'ddq': array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.]),\n",
" 'tau_est': array([-0.04947656, 0.04947656, -0.04741504, -0.04947656, -0.04947656,\n",
" 0. , 0. , 0.04947656, -0.04741504, 0.04947656,\n",
" -0.07421485, 0.04741504]),\n",
" 'temperature': array([34., 30., 29., 32., 30., 30., 36., 31., 29., 37., 31., 30.])}"
]
},
"execution_count": 3,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"robot.getJointStates()"
]
},
{
"cell_type": "code",
"execution_count": 4,
"metadata": {},
"outputs": [],
"source": [
"import numpy as np\n",
"import time\n",
"for i in range(1000000):\n",
" # q = np.zeros(12) \n",
" dq = np.zeros(12)\n",
" kp = np.ones(12)*0.0\n",
" kd = np.ones(12)*0.0\n",
" tau = np.zeros(12)\n",
" tau[0] = 0.0\n",
" robot.setCommands(q, dq, kp, kd, tau)\n",
" time.sleep(0.01) "
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Highlevel Control"
]
},
{
"cell_type": "code",
"execution_count": 4,
"metadata": {},
"outputs": [
{
"ename": "NotImplementedError",
"evalue": "DDS interface for the highlevel commands is not implemented yet. Please use our ROS2 interface.",
"output_type": "error",
"traceback": [
"\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
"\u001b[0;31mNotImplementedError\u001b[0m Traceback (most recent call last)",
"Cell \u001b[0;32mIn[4], line 3\u001b[0m\n\u001b[1;32m 1\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mGo2Py\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mrobot\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01minterface\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mdds\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m GO2Real\n\u001b[1;32m 2\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mtime\u001b[39;00m\n\u001b[0;32m----> 3\u001b[0m robot \u001b[38;5;241m=\u001b[39m \u001b[43mGO2Real\u001b[49m\u001b[43m(\u001b[49m\u001b[43mmode\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[38;5;124;43m'\u001b[39;49m\u001b[38;5;124;43mhighlevel\u001b[39;49m\u001b[38;5;124;43m'\u001b[39;49m\u001b[43m)\u001b[49m\n",
"File \u001b[0;32m~/projects/rooholla/locomotion/Go2Py/Go2Py/robot/interface/dds.py:35\u001b[0m, in \u001b[0;36mGO2Real.__init__\u001b[0;34m(self, mode, vx_max, vy_max, ωz_max)\u001b[0m\n\u001b[1;32m 33\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mmode \u001b[38;5;241m=\u001b[39m mode\n\u001b[1;32m 34\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mmode \u001b[38;5;241m==\u001b[39m \u001b[38;5;124m'\u001b[39m\u001b[38;5;124mhighlevel\u001b[39m\u001b[38;5;124m'\u001b[39m:\n\u001b[0;32m---> 35\u001b[0m \u001b[38;5;28;01mraise\u001b[39;00m \u001b[38;5;167;01mNotImplementedError\u001b[39;00m(\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mDDS interface for the highlevel commands is not implemented yet. Please use our ROS2 interface.\u001b[39m\u001b[38;5;124m'\u001b[39m)\n\u001b[1;32m 36\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39msimulated \u001b[38;5;241m=\u001b[39m \u001b[38;5;28;01mFalse\u001b[39;00m\n\u001b[1;32m 37\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mprestanding_q \u001b[38;5;241m=\u001b[39m np\u001b[38;5;241m.\u001b[39marray([ \u001b[38;5;241m0.0\u001b[39m, \u001b[38;5;241m1.26186061\u001b[39m, \u001b[38;5;241m-\u001b[39m\u001b[38;5;241m2.5\u001b[39m,\n\u001b[1;32m 38\u001b[0m \u001b[38;5;241m0.0\u001b[39m, \u001b[38;5;241m1.25883281\u001b[39m, \u001b[38;5;241m-\u001b[39m\u001b[38;5;241m2.5\u001b[39m,\n\u001b[1;32m 39\u001b[0m \u001b[38;5;241m0.0\u001b[39m, \u001b[38;5;241m1.27193761\u001b[39m, \u001b[38;5;241m-\u001b[39m\u001b[38;5;241m2.6\u001b[39m, \n\u001b[1;32m 40\u001b[0m \u001b[38;5;241m0.0\u001b[39m, \u001b[38;5;241m1.27148342\u001b[39m, \u001b[38;5;241m-\u001b[39m\u001b[38;5;241m2.6\u001b[39m])\n",
"\u001b[0;31mNotImplementedError\u001b[0m: DDS interface for the highlevel commands is not implemented yet. Please use our ROS2 interface."
]
}
],
"source": [
"from Go2Py.robot.interface.dds import GO2Real\n",
"import time\n",
"robot = GO2Real(mode='highlevel')"
]
}
],
"metadata": {
"kernelspec": {
"display_name": "Python 3",
"language": "python",
"name": "python3"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 3
},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.8.18"
}
},
"nbformat": 4,
"nbformat_minor": 4
}

0
examples/01-robot-interface-ros2.ipynb → examples/01-robot-interface-ROS2.ipynb
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0
examples/02-mujoco-sim.ipynb → examples/02-MuJoCo-sim.ipynb
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76
examples/04-lowlevel-control-fsm.ipynb → examples/04-FSM.ipynb
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@ -9,7 +9,7 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": null, "execution_count": 1,
"metadata": {}, "metadata": {},
"outputs": [], "outputs": [],
"source": [ "source": [
@ -21,7 +21,7 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": null, "execution_count": 2,
"metadata": {}, "metadata": {},
"outputs": [], "outputs": [],
"source": [ "source": [
@ -32,7 +32,7 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": null, "execution_count": 3,
"metadata": {}, "metadata": {},
"outputs": [], "outputs": [],
"source": [ "source": [
@ -42,11 +42,12 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": null, "execution_count": 5,
"metadata": {}, "metadata": {},
"outputs": [], "outputs": [],
"source": [ "source": [
"fsm.close()" "fsm.close()\n",
"robot.close()"
] ]
}, },
{ {
@ -58,9 +59,18 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": null, "execution_count": 1,
"metadata": {}, "metadata": {},
"outputs": [], "outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"pygame 2.5.2 (SDL 2.28.2, Python 3.8.18)\n",
"Hello from the pygame community. https://www.pygame.org/contribute.html\n"
]
}
],
"source": [ "source": [
"from Go2Py.robot.interface.dds import GO2Real\n", "from Go2Py.robot.interface.dds import GO2Real\n",
"import time\n", "import time\n",
@ -71,22 +81,62 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": null, "execution_count": 2,
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"{'q': array([-0.0441218 , 1.2594384 , -2.81978369, 0.05720162, 1.2381835 ,\n",
" -2.77803254, -0.34687191, 1.26960623, -2.80896306, 0.28916293,\n",
" 1.28592575, -2.83088923]),\n",
" 'dq': array([ 0.03875524, -0.04650629, 0.00202201, 0.0155021 , -0.04263076,\n",
" -0.0323522 , -0.00775105, -0.04650629, 0.00404402, -0.05813286,\n",
" 0.03100419, -0.03841824]),\n",
" 'ddq': array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.]),\n",
" 'tau_est': array([-0.07421485, 0.07421485, -0.23707521, -0.17316797, -0.04947656,\n",
" 0.28449023, 0. , 0.02473828, -0.09483008, 0.04947656,\n",
" -0.04947656, 0.09483008]),\n",
" 'temperature': array([35., 31., 30., 33., 30., 30., 37., 31., 30., 37., 31., 30.])}"
]
},
"execution_count": 2,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"robot = GO2Real(mode='lowlevel')\n",
"time.sleep(1)\n",
"robot.getJointStates()"
]
},
{
"cell_type": "code",
"execution_count": 3,
"metadata": {}, "metadata": {},
"outputs": [], "outputs": [],
"source": [ "source": [
"robot = GO2Real(mode='lowlevel')\n",
"remote = KeyboardRemote()\n", "remote = KeyboardRemote()\n",
"safety_hypervisor = SafetyHypervisor(robot)" "safety_hypervisor = SafetyHypervisor(robot)"
] ]
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": null, "execution_count": 6,
"metadata": {}, "metadata": {},
"outputs": [], "outputs": [],
"source": [ "source": [
"fsm = FSM(robot, remote, safety)" "fsm = FSM(robot, remote, safety_hypervisor)"
]
},
{
"cell_type": "code",
"execution_count": 5,
"metadata": {},
"outputs": [],
"source": [
"fsm.close()"
] ]
}, },
{ {
@ -94,9 +144,7 @@
"execution_count": null, "execution_count": null,
"metadata": {}, "metadata": {},
"outputs": [], "outputs": [],
"source": [ "source": []
"fsm.close()"
]
} }
], ],
"metadata": { "metadata": {

19
examples/05-walk-these-ways-RL-controller.ipynb
View File

@ -2,7 +2,7 @@
"cells": [ "cells": [
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 1, "execution_count": null,
"metadata": {}, "metadata": {},
"outputs": [], "outputs": [],
"source": [ "source": [
@ -178,7 +178,6 @@
"from Go2Py.robot.fsm import FSM\n", "from Go2Py.robot.fsm import FSM\n",
"from Go2Py.robot.remote import KeyboardRemote\n", "from Go2Py.robot.remote import KeyboardRemote\n",
"from Go2Py.robot.safety import SafetyHypervisor\n", "from Go2Py.robot.safety import SafetyHypervisor\n",
"from Go2Py.sim.mujoco import Go2Sim\n",
"from Go2Py.control.walk_these_ways import *" "from Go2Py.control.walk_these_ways import *"
] ]
}, },
@ -214,6 +213,22 @@
"safety_hypervisor = SafetyHypervisor(robot)" "safety_hypervisor = SafetyHypervisor(robot)"
] ]
}, },
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"controller.command_profile.pitch_cmd=0.0\n",
"controller.command_profile.body_height_cmd=0.0\n",
"controller.command_profile.footswing_height_cmd=0.04\n",
"controller.command_profile.roll_cmd=0.0\n",
"controller.command_profile.stance_width_cmd=0.2\n",
"controller.command_profile.x_vel_cmd=-0.2\n",
"controller.command_profile.y_vel_cmd=0.01\n",
"controller.command_profile.setGaitType(\"trotting\")"
]
},
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": null, "execution_count": null,

3
go2py_common/.idlpy_manifest Normal file
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@ -0,0 +1,3 @@
Go2pyLowCmd
msg

2
Go2Py/unitree_go/__init__.py → go2py_common/__init__.py
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@ -1,7 +1,7 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: Go2Py.unitree_go Module: go2py_common
""" """

3
go2py_common/msg/.idlpy_manifest Normal file
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@ -0,0 +1,3 @@
Go2pyLowCmd
dds_

2
Go2Py/unitree_go/msg/__init__.py → go2py_common/msg/__init__.py
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@ -1,7 +1,7 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: Go2Py.unitree_go.msg Module: go2py_common.msg
""" """

3
go2py_common/msg/dds_/.idlpy_manifest Normal file
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@ -0,0 +1,3 @@
Go2pyLowCmd
Go2pyLowCmd_

7
Go2Py/unitree_go/msg/dds_/_Go2pyLowCmd.py → go2py_common/msg/dds_/_Go2pyLowCmd.py
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@ -1,7 +1,7 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: Go2Py.unitree_go.msg.dds_ Module: go2py_common.msg.dds_
IDL file: Go2pyLowCmd.idl IDL file: Go2pyLowCmd.idl
""" """
@ -15,12 +15,13 @@ import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
import Go2Py.unitree_go import go2py_common
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class Go2pyLowCmd_(idl.IdlStruct, typename="unitree_go.msg.dds_.Go2pyLowCmd_"): class Go2pyLowCmd_(idl.IdlStruct, typename="go2py_common.msg.dds_.Go2pyLowCmd_"):
q: types.array[types.float32, 12] q: types.array[types.float32, 12]
dq: types.array[types.float32, 12] dq: types.array[types.float32, 12]
kp: types.array[types.float32, 12] kp: types.array[types.float32, 12]

9
go2py_common/msg/dds_/__init__.py Normal file
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@ -0,0 +1,9 @@
"""
Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0
Module: go2py_common.msg.dds_
"""
from ._Go2pyLowCmd import Go2pyLowCmd_
__all__ = ["Go2pyLowCmd_", ]

29
msg_sources/make_msgs.sh
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@ -1,29 +0,0 @@
#!/bin/bash
GREEN='\033[0;32m'
NC='\033[0m' # No Color
echo -e "${GREEN} Starting DDS type generation...${NC}"
# Clean
# rm -r Go2Py/go2py_msgs/dds_
# rm -r ../Go2Py/unitree_go
# Make
for file in idls/*.idl
do
echo "Processing $file file..."
idlc -l py $file
done
mv Go2Py/unitree_go ../Go2Py
# rm -r Go2Py
# mkdir msgs/cpp
# cd msgs/cpp
# for file in ../../idl/*.idl
# do
# echo "Processing $file file..."
# idlc -l ../../idl/libcycloneddsidlcxx.so.0.10.2 $file
# done
# cd ../..
# # rm -r ../cpp_bridge/include/go2py
# # mv msgs/cpp ../cpp_bridge/include/go2py
# echo -e "${GREEN} Done with DDS type generation${NC}"

3
setup.cfg
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@ -17,7 +17,8 @@ packages = find:
include_package_data = True include_package_data = True
install_requires = install_requires =
pygame pygame
pyyaml pyyaml
pynput
# [options.package_data] # [options.package_data]
# * = unitree_legged_sdk/amd64/*.so, unitree_legged_sdk/arm64/*.so # * = unitree_legged_sdk/amd64/*.so, unitree_legged_sdk/arm64/*.so

4
Go2Py/unitree_go/.idlpy_manifest → unitree_go/.idlpy_manifest
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@ -2,10 +2,6 @@ BmsState_
msg msg
Go2pyLowCmd
msg
IMUState_ IMUState_
msg msg

9
unitree_go/__init__.py Normal file
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@ -0,0 +1,9 @@
"""
Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0
Module: unitree_go
"""
from . import msg
__all__ = ["msg", ]

4
Go2Py/unitree_go/msg/.idlpy_manifest → unitree_go/msg/.idlpy_manifest
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@ -2,10 +2,6 @@ BmsState_
dds_ dds_
Go2pyLowCmd
dds_
IMUState_ IMUState_
dds_ dds_

9
unitree_go/msg/__init__.py Normal file
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@ -0,0 +1,9 @@
"""
Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0
Module: unitree_go.msg
"""
from . import dds_
__all__ = ["dds_", ]

4
Go2Py/unitree_go/msg/dds_/.idlpy_manifest → unitree_go/msg/dds_/.idlpy_manifest
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@ -2,10 +2,6 @@ BmsState_
BmsState_ BmsState_
Go2pyLowCmd
Go2pyLowCmd_
IMUState_ IMUState_
IMUState_ IMUState_

6
Go2Py/unitree_go/msg/dds_/_BmsState_.py → unitree_go/msg/dds_/_BmsState_.py
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@ -1,7 +1,7 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: Go2Py.unitree_go.msg.dds_ Module: unitree_go.msg.dds_
IDL file: BmsState_.idl IDL file: BmsState_.idl
""" """
@ -15,13 +15,13 @@ import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
import Go2Py.unitree_go import unitree_go
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class BmsState_(idl.IdlStruct, typename="Go2Py.unitree_go.msg.dds_.BmsState_"): class BmsState_(idl.IdlStruct, typename="unitree_go.msg.dds_.BmsState_"):
version_high: types.uint8 version_high: types.uint8
version_low: types.uint8 version_low: types.uint8
status: types.uint8 status: types.uint8

6
Go2Py/unitree_go/msg/dds_/_IMUState_.py → unitree_go/msg/dds_/_IMUState_.py
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@ -1,7 +1,7 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: Go2Py.unitree_go.msg.dds_ Module: unitree_go.msg.dds_
IDL file: IMUState_.idl IDL file: IMUState_.idl
""" """
@ -15,13 +15,13 @@ import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
import Go2Py.unitree_go import unitree_go
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class IMUState_(idl.IdlStruct, typename="Go2Py.unitree_go.msg.dds_.IMUState_"): class IMUState_(idl.IdlStruct, typename="unitree_go.msg.dds_.IMUState_"):
quaternion: types.array[types.float32, 4] quaternion: types.array[types.float32, 4]
gyroscope: types.array[types.float32, 3] gyroscope: types.array[types.float32, 3]
accelerometer: types.array[types.float32, 3] accelerometer: types.array[types.float32, 3]

12
Go2Py/unitree_go/msg/dds_/_LowState_.py → unitree_go/msg/dds_/_LowState_.py
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@ -1,7 +1,7 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: Go2Py.unitree_go.msg.dds_ Module: unitree_go.msg.dds_
IDL file: LowState_.idl IDL file: LowState_.idl
""" """
@ -15,22 +15,22 @@ import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
import Go2Py.unitree_go import unitree_go
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class LowState_(idl.IdlStruct, typename="Go2Py.unitree_go.msg.dds_.LowState_"): class LowState_(idl.IdlStruct, typename="unitree_go.msg.dds_.LowState_"):
head: types.array[types.uint8, 2] head: types.array[types.uint8, 2]
level_flag: types.uint8 level_flag: types.uint8
frame_reserve: types.uint8 frame_reserve: types.uint8
sn: types.array[types.uint32, 2] sn: types.array[types.uint32, 2]
version: types.array[types.uint32, 2] version: types.array[types.uint32, 2]
bandwidth: types.uint16 bandwidth: types.uint16
imu_state: 'Go2Py.unitree_go.msg.dds_.IMUState_' imu_state: 'unitree_go.msg.dds_.IMUState_'
motor_state: types.array['Go2Py.unitree_go.msg.dds_.MotorState_', 20] motor_state: types.array['unitree_go.msg.dds_.MotorState_', 20]
bms_state: 'Go2Py.unitree_go.msg.dds_.BmsState_' bms_state: 'unitree_go.msg.dds_.BmsState_'
foot_force: types.array[types.int16, 4] foot_force: types.array[types.int16, 4]
foot_force_est: types.array[types.int16, 4] foot_force_est: types.array[types.int16, 4]
tick: types.uint32 tick: types.uint32

6
Go2Py/unitree_go/msg/dds_/_MotorState_.py → unitree_go/msg/dds_/_MotorState_.py
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@ -1,7 +1,7 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: Go2Py.unitree_go.msg.dds_ Module: unitree_go.msg.dds_
IDL file: MotorState_.idl IDL file: MotorState_.idl
""" """
@ -15,13 +15,13 @@ import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
import Go2Py.unitree_go import unitree_go
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class MotorState_(idl.IdlStruct, typename="Go2Py.unitree_go.msg.dds_.MotorState_"): class MotorState_(idl.IdlStruct, typename="unitree_go.msg.dds_.MotorState_"):
mode: types.uint8 mode: types.uint8
q: types.float32 q: types.float32
dq: types.float32 dq: types.float32

5
Go2Py/unitree_go/msg/dds_/__init__.py → unitree_go/msg/dds_/__init__.py
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@ -1,13 +1,12 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: Go2Py.unitree_go.msg.dds_ Module: unitree_go.msg.dds_
""" """
from ._BmsState_ import BmsState_ from ._BmsState_ import BmsState_
from ._Go2pyLowCmd import Go2pyLowCmd_
from ._IMUState_ import IMUState_ from ._IMUState_ import IMUState_
from ._LowState_ import LowState_ from ._LowState_ import LowState_
from ._MotorState_ import MotorState_ from ._MotorState_ import MotorState_
__all__ = ["BmsState_", "Go2pyLowCmd_", "IMUState_", "LowState_", "MotorState_", ] __all__ = ["BmsState_", "IMUState_", "LowState_", "MotorState_", ]