87 lines
1.8 KiB
Plaintext
87 lines
1.8 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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"# Simulated"
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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": 1,
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"metadata": {},
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"outputs": [],
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"source": [
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"from Go2Py.sim.mujoco import Go2Sim\n",
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"from Go2Py.robot.model import Go2Model\n",
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"from Go2Py.estimation.contact import HysteresisContactDetector\n",
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"import pinocchio as pin \n",
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"import numpy as np\n",
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"import time"
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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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"source": [
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"model = Go2Model()\n",
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"robot = Go2Sim()"
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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": 15,
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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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"dict_keys(['M', 'Minv', 'nle', 'g', 'J_w', 'J_b'])\n"
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]
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}
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],
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"source": [
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"# Get robot robot states\n",
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"state = robot.getJointStates()\n",
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"\n",
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"# The pose and velocity generally is fed from an external state estimator,\n",
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"# here we just set it to identity\n",
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"T = np.eye(4)\n",
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"vel = np.zeros(6)\n",
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"\n",
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"# Compute the dynamics\n",
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"model.updateAllPose(state['q'], state['dq'], T, vel)\n",
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"\n",
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"# Get dynamic and kinematic models\n",
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"info = model.getInfo()\n",
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"print(info.keys())"
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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": "3.8.18"
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}
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},
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"nbformat": 4,
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"nbformat_minor": 2
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}
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