165 lines
3.7 KiB
Plaintext
165 lines
3.7 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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"# Test in Simulation"
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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.fsm import FSM\n",
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"from Go2Py.robot.remote import KeyboardRemote\n",
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"from Go2Py.robot.safety import SafetyHypervisor"
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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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"robot = Go2Sim()\n",
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"remote = KeyboardRemote()\n",
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"safety_hypervisor = SafetyHypervisor(robot)"
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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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"robot.sitDownReset()\n",
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"fsm = FSM(robot, remote, safety_hypervisor)"
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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": 5,
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"metadata": {},
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"outputs": [],
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"source": [
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"fsm.close()\n",
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"robot.close()"
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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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"# Test on Real Robot"
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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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{
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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.dds import GO2Real\n",
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"import time\n",
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"from Go2Py.robot.fsm import FSM\n",
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"from Go2Py.robot.remote import KeyboardRemote\n",
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"from Go2Py.robot.safety import SafetyHypervisor"
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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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"data": {
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"text/plain": [
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"{'q': array([-0.0441218 , 1.2594384 , -2.81978369, 0.05720162, 1.2381835 ,\n",
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" -2.77803254, -0.34687191, 1.26960623, -2.80896306, 0.28916293,\n",
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" 1.28592575, -2.83088923]),\n",
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" 'dq': array([ 0.03875524, -0.04650629, 0.00202201, 0.0155021 , -0.04263076,\n",
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" -0.0323522 , -0.00775105, -0.04650629, 0.00404402, -0.05813286,\n",
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" 0.03100419, -0.03841824]),\n",
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" 'ddq': array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.]),\n",
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" 'tau_est': array([-0.07421485, 0.07421485, -0.23707521, -0.17316797, -0.04947656,\n",
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" 0.28449023, 0. , 0.02473828, -0.09483008, 0.04947656,\n",
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" -0.04947656, 0.09483008]),\n",
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" 'temperature': array([35., 31., 30., 33., 30., 30., 37., 31., 30., 37., 31., 30.])}"
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]
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},
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"execution_count": 2,
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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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"robot = GO2Real(mode='lowlevel')\n",
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"time.sleep(1)\n",
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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": 3,
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"metadata": {},
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"outputs": [],
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"source": [
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"remote = KeyboardRemote()\n",
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"safety_hypervisor = SafetyHypervisor(robot)"
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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": 6,
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"metadata": {},
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"outputs": [],
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"source": [
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"fsm = FSM(robot, remote, safety_hypervisor)"
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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": 5,
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"metadata": {},
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"outputs": [],
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"source": [
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"fsm.close()"
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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": "b1-env",
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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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