openfig added

README.md

@@ -1,15 +1,19 @@
 # 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. 
+
+<p align="center">
+  <img src="docs/assets/openfig.png" alt="image" width="60%" height="auto"/>
+</p>
 
 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

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": [
+   "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"
-     ]
-    }
-   ],
    "source": [
     "controller.command_profile.pitch_cmd=0.0\n",
     "controller.command_profile.body_height_cmd=0.0\n",