state estimation dataset collected
This commit is contained in:
parent
2e43f2e4f6
commit
c104f834c4
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@ -1,4 +1,4 @@
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FROM ros:foxy
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FROM ros:humble
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ENV DEBIAN_FRONTEND=noninteractive
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ENV DEBIAN_FRONTEND=noninteractive
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SHELL ["/bin/bash", "-c"]
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SHELL ["/bin/bash", "-c"]
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RUN apt-get update && apt-get install -y -qq --no-install-recommends \
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RUN apt-get update && apt-get install -y -qq --no-install-recommends \
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@ -11,9 +11,9 @@ RUN apt-get update && apt-get install -y -qq --no-install-recommends \
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freeglut3-dev \
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freeglut3-dev \
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git \
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git \
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python3-pip \
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python3-pip \
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ros-foxy-rmw-cyclonedds-cpp ros-foxy-rosidl-generator-dds-idl \
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ros-humble-rmw-cyclonedds-cpp ros-humble-rosidl-generator-dds-idl \
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libyaml-cpp-dev \
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libyaml-cpp-dev \
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ros-foxy-xacro \
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ros-humble-xacro \
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libboost-all-dev\
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libboost-all-dev\
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build-essential \
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build-essential \
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cmake \
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cmake \
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@ -23,8 +23,8 @@ RUN apt-get update && apt-get install -y -qq --no-install-recommends \
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RUN pip3 install mujoco pin matplotlib
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RUN pip3 install mujoco pin matplotlib
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RUN cd / && git clone https://github.com/unitreerobotics/unitree_ros2 && cd /unitree_ros2/cyclonedds_ws/src && \
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RUN cd / && git clone https://github.com/unitreerobotics/unitree_ros2 && cd /unitree_ros2/cyclonedds_ws/src && \
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git clone https://github.com/ros2/rmw_cyclonedds -b foxy && git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x &&\
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git clone https://github.com/ros2/rmw_cyclonedds -b humble && git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x &&\
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cd .. && colcon build --packages-select cyclonedds && source /opt/ros/foxy/setup.bash && colcon build
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cd .. && colcon build --packages-select cyclonedds && source /opt/ros/humble/setup.bash && colcon build
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# Env vars for the nvidia-container-runtime.
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# Env vars for the nvidia-container-runtime.
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ENV NVIDIA_VISIBLE_DEVICES all
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ENV NVIDIA_VISIBLE_DEVICES all
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@ -47,7 +47,7 @@
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"name": "stdout",
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"name": "stdout",
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"output_type": "stream",
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"output_type": "stream",
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"text": [
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"text": [
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"pygame 2.5.2 (SDL 2.28.2, Python 3.8.18)\n",
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"pygame 2.5.2 (SDL 2.28.2, Python 3.8.10)\n",
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"Hello from the pygame community. https://www.pygame.org/contribute.html\n"
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"Hello from the pygame community. https://www.pygame.org/contribute.html\n"
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]
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]
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}
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}
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@ -56,7 +56,7 @@
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"from Go2Py.robot.interface.ros2 import GO2Real, ros2_init, ROS2ExecutorManager\n",
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"from Go2Py.robot.interface.ros2 import GO2Real, ros2_init, ROS2ExecutorManager\n",
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"import time\n",
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"import time\n",
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"ros2_init()\n",
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"ros2_init()\n",
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"robot = GO2Real(mode='lowlevel')\n",
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"robot = GO2Real(mode='highlevel')\n",
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"ros2_exec_manager = ROS2ExecutorManager()\n",
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"ros2_exec_manager = ROS2ExecutorManager()\n",
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"ros2_exec_manager.add_node(robot)\n",
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"ros2_exec_manager.add_node(robot)\n",
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"ros2_exec_manager.start()"
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"ros2_exec_manager.start()"
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@ -89,24 +89,46 @@
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},
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},
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{
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{
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"cell_type": "code",
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"cell_type": "code",
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"execution_count": 17,
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"execution_count": 50,
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"metadata": {},
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"metadata": {},
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"outputs": [
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"outputs": [],
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{
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"data": {
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"text/plain": [
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"{'stamp_nanosec': 1707447716.9414463,\n",
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" 'position': array([0.01655228, 0.00701126, 0.30197507]),\n",
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" 'orientation': array([-0.00573182, 0.0074235 , 0.08994701, 0.99590236])}"
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]
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},
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"execution_count": 17,
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"metadata": {},
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"output_type": "execute_result"
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}
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],
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"source": [
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"source": [
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"robot.getOdometry()"
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"odometry = []\n",
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"imus = []\n",
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"joints = []\n",
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"foot_contacts = []\n",
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"stamps = []\n",
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"\n",
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"for i in range(60*200):\n",
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" time.sleep(1/200)\n",
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" odom = robot.getOdometry()\n",
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" contact = robot.getFootContacts()\n",
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" joint = robot.getJointStates()\n",
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" imu = robot.getIMU()\n",
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" imus.append(imu)\n",
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" joints.append(joint)\n",
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" foot_contacts.append(contact)\n",
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" stamps.append(time.time())\n",
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" odometry.append(odom)\n"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 51,
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"metadata": {},
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"outputs": [],
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"source": [
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"import pickle\n",
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"with open('data/april16-seq2.pkl', 'wb') as f:\n",
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" pickle.dump(\n",
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" {\n",
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" 'imu':imus,\n",
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" 'odometry':odometry,\n",
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" 'joints':joints,\n",
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" 'foot_contacts':foot_contacts,\n",
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" 'stamps':stamps\n",
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" }, f\n",
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" )"
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]
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]
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}
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}
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],
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],
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@ -126,7 +148,7 @@
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"name": "python",
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"name": "python",
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"nbconvert_exporter": "python",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython3",
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"pygments_lexer": "ipython3",
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"version": "3.8.18"
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"version": "3.8.10"
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}
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}
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},
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},
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"nbformat": 4,
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"nbformat": 4,
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