112 lines
2.2 KiB
Plaintext
112 lines
2.2 KiB
Plaintext
{
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"cells": [
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"# Lowlevel Control"
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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": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"from Go2Py.robot.interface import GO2Real\n",
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"import time\n",
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"robot = GO2Real(mode='lowlevel')"
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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": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"robot.getJointStates()"
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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": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"import numpy as np\n",
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"import time\n",
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"for i in range(1000000):\n",
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" q = np.zeros(12) \n",
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" dq = np.zeros(12)\n",
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" kp = np.ones(12)*0.0\n",
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" kd = np.ones(12)*0.0\n",
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" tau = np.zeros(12)\n",
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" tau[0] = 0.0\n",
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" robot.setCommands(q, dq, kp, kd, tau)\n",
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" time.sleep(0.01) "
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"# Highlevel Control"
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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": 2,
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"metadata": {},
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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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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"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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"source": [
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"from Go2Py.robot.interface import GO2Real\n",
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"import time\n",
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"robot = GO2Real(mode='highlevel')"
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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": 3,
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"metadata": {},
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"outputs": [],
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"source": [
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"import numpy as np\n",
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"import time\n",
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"for i in range(200):\n",
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" robot.setCommandsHigh(0,0,0.2)\n",
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" time.sleep(0.01) "
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]
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}
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],
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"metadata": {
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"kernelspec": {
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"display_name": "Python 3",
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"language": "python",
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"name": "python3"
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},
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"language_info": {
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"codemirror_mode": {
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"name": "ipython",
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"version": 3
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},
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"file_extension": ".py",
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"mimetype": "text/x-python",
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"name": "python",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython3",
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"version": "3.10.12"
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}
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},
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"nbformat": 4,
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"nbformat_minor": 4
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}
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