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Go2Py_SIM
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mujoco sim bug fixed

This commit is contained in:
Rooholla-KhorramBakht 2024-03-15 22:43:58 -04:00
parent 9ea07ec6a8
commit 9cbf6edabe
1 changed files with 7 additions and 31 deletions
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38
examples/mujoco_test.ipynb
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@ -2,7 +2,7 @@
"cells": [ "cells": [
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 1, "execution_count": null,
"metadata": {}, "metadata": {},
"outputs": [], "outputs": [],
"source": [ "source": [
@ -12,43 +12,19 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 2, "execution_count": null,
"metadata": {}, "metadata": {},
"outputs": [ "outputs": [],
{
"ename": "AttributeError",
"evalue": "'Go2Sim' object has no attribute 'resetStanding'",
"output_type": "error",
"traceback": [
"\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
"\u001b[0;31mAttributeError\u001b[0m Traceback (most recent call last)",
"Cell \u001b[0;32mIn[2], line 2\u001b[0m\n\u001b[1;32m 1\u001b[0m robot \u001b[38;5;241m=\u001b[39m Go2Sim()\n\u001b[0;32m----> 2\u001b[0m \u001b[43mrobot\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mresetStanding\u001b[49m()\n",
"\u001b[0;31mAttributeError\u001b[0m: 'Go2Sim' object has no attribute 'resetStanding'"
]
}
],
"source": [ "source": [
"robot = Go2Sim()\n", "robot = Go2Sim()\n",
"robot.resetStanding()" "robot.standUp()"
] ]
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 3, "execution_count": null,
"metadata": {}, "metadata": {},
"outputs": [ "outputs": [],
{
"ename": "NameError",
"evalue": "name 'env' is not defined",
"output_type": "error",
"traceback": [
"\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
"\u001b[0;31mNameError\u001b[0m Traceback (most recent call last)",
"Cell \u001b[0;32mIn[3], line 7\u001b[0m\n\u001b[1;32m 5\u001b[0m \u001b[38;5;28;01mfor\u001b[39;00m i \u001b[38;5;129;01min\u001b[39;00m \u001b[38;5;28mrange\u001b[39m(\u001b[38;5;241m100000\u001b[39m):\n\u001b[1;32m 6\u001b[0m q,dq \u001b[38;5;241m=\u001b[39m robot\u001b[38;5;241m.\u001b[39mgetJointStates()\n\u001b[0;32m----> 7\u001b[0m tau \u001b[38;5;241m=\u001b[39m \u001b[38;5;241m20\u001b[39m\u001b[38;5;241m*\u001b[39mnp\u001b[38;5;241m.\u001b[39meye(\u001b[38;5;241m12\u001b[39m)\u001b[38;5;241m@\u001b[39m(\u001b[43menv\u001b[49m\u001b[38;5;241m.\u001b[39mq0 \u001b[38;5;241m-\u001b[39m q)\u001b[38;5;241m.\u001b[39mreshape(\u001b[38;5;241m12\u001b[39m,\u001b[38;5;241m1\u001b[39m)\n\u001b[1;32m 8\u001b[0m robot\u001b[38;5;241m.\u001b[39msetCommands(np\u001b[38;5;241m.\u001b[39mzeros(\u001b[38;5;241m12\u001b[39m), np\u001b[38;5;241m.\u001b[39mzeros(\u001b[38;5;241m12\u001b[39m), np\u001b[38;5;241m.\u001b[39mzeros(\u001b[38;5;241m12\u001b[39m), np\u001b[38;5;241m.\u001b[39mzeros(\u001b[38;5;241m12\u001b[39m), tau)\n\u001b[1;32m 9\u001b[0m env\u001b[38;5;241m.\u001b[39mstep()\n",
"\u001b[0;31mNameError\u001b[0m: name 'env' is not defined"
]
}
],
"source": [ "source": [
"import mujoco\n", "import mujoco\n",
"import time\n", "import time\n",
@ -58,7 +34,7 @@
" q,dq = robot.getJointStates()\n", " q,dq = robot.getJointStates()\n",
" tau = 20*np.eye(12)@(robot.q0 - q).reshape(12,1)\n", " tau = 20*np.eye(12)@(robot.q0 - q).reshape(12,1)\n",
" robot.setCommands(np.zeros(12), np.zeros(12), np.zeros(12), np.zeros(12), tau)\n", " robot.setCommands(np.zeros(12), np.zeros(12), np.zeros(12), np.zeros(12), tau)\n",
" env.step()" " robot.step()"
] ]
}, },
{ {