diff --git a/README.md b/README.md
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+++ b/README.md
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# Go2Py
-## What is it?
-This is a Pythonic interface and driver for low-level and high-level control of Unitree Go2 quadruped robots. The motivation of this project is to ease the burden of initial interface development, safety systems of Go2 quadruped by providing a modular pipeline for real-time communication with the robot in both simulated and real world with a unified interface.
+
+Go2Py is a Pythonic interface and driver for low-level and high-level control of Unitree Go2 quadruped robots. The motivation of this project is to ease the burden of initial interface development, safety systems of Go2 quadruped by providing a modular pipeline for real-time communication with the robot in both simulated and real world with a unified interface.
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This project is comprised of the following components:
-- **C++ Bridge:** A dockerized ROS2 bridge built upon the [unitree_ros2](https://github.com/unitreerobotics/unitree_ros2) that implements an remote controlled emergency stop and publishes the robot states as standard ROS2 topics usable by upstream systems such as NAV2.
+- **C++ Bridge:** A dockerized ROS2 bridge built upon the [unitree_ros2](https://github.com/unitreerobotics/unitree_ros2) that implements a remote controlled emergency stop and publishes the robot states as standard ROS2 topics usable by upstream systems such as NAV2.
- **Robot Interface:** A simple Python class that represents the robot and communicates with the C++ bridge through either DDS (ROS independent) or ROS2 interfaces.
- **Robot Management FSM:** A finite state machine for controlling the behavior of the robot up to the point of handover to the user low-level controller (sitting down, standing up) with safety monitors (motor temperatures, emergency stops).
- **Robot Model:** A simple to use [Pinocchio](https://github.com/stack-of-tasks/pinocchio) wrapper for computing the kinematics and dynamics parameters of the robot.
-- **Simulation Interface:** Simulation environments based on Mujoco and Nvidia Orbit (To be added) with a Python interface identical to the read robot.
+- **Simulation Interface:** Simulation environments based on Mujoco and Nvidia Orbit (To be added) with a Python interface identical to the real robot.
-## How does it look like?
+## How Does Using it Look Like?
Communication with the robot will be as simple as importing a Python class:
```python
from Go2Py.robot.interface.dds import GO2Real
diff --git a/docs/assets/openfig.drawio b/docs/assets/openfig.drawio
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diff --git a/docs/assets/openfig.png b/docs/assets/openfig.png
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diff --git a/examples/walk_these_ways_sim.ipynb b/examples/walk_these_ways_sim.ipynb
index 471fbc6..7a77f33 100644
--- a/examples/walk_these_ways_sim.ipynb
+++ b/examples/walk_these_ways_sim.ipynb
@@ -188,20 +188,6 @@
"text": [
"p_gains: [20. 20. 20. 20. 20. 20. 20. 20. 20. 20. 20. 20.]\n"
]
- },
- {
- "name": "stdout",
- "output_type": "stream",
- "text": [
- "frq: 0.10237921921805228 Hz\n",
- "frq: 46.14348108298404 Hz\n",
- "frq: 44.397794032030994 Hz\n",
- "frq: 45.603148715941465 Hz\n",
- "frq: 45.86595514341641 Hz\n",
- "frq: 44.16591026356524 Hz\n",
- "frq: 45.82636627843454 Hz\n",
- "frq: 45.51950772169346 Hz\n"
- ]
}
],
"source": [
@@ -213,31 +199,9 @@
},
{
"cell_type": "code",
- "execution_count": 7,
+ "execution_count": 6,
"metadata": {},
- "outputs": [
- {
- "name": "stdout",
- "output_type": "stream",
- "text": [
- "frq: 45.741406386320016 Hz\n",
- "frq: 44.6901430961184 Hz\n",
- "frq: 44.451434445775085 Hz\n",
- "frq: 45.19042385846963 Hz\n",
- "frq: 45.1087737411542 Hz\n",
- "frq: 46.690013692073066 Hz\n",
- "frq: 45.09228519824546 Hz\n",
- "frq: 45.70053825535531 Hz\n",
- "frq: 46.01388873651992 Hz\n",
- "frq: 44.94924554183813 Hz\n",
- "frq: 45.49383372200228 Hz\n",
- "frq: 44.522684330085134 Hz\n",
- "frq: 44.42130458266699 Hz\n",
- "frq: 43.71525649844704 Hz\n",
- "frq: 44.37383889464886 Hz\n"
- ]
- }
- ],
+ "outputs": [],
"source": [
"controller.command_profile.pitch_cmd=0.0\n",
"controller.command_profile.body_height_cmd=0.0\n",