148 lines
3.3 KiB
Plaintext
148 lines
3.3 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 Interface Test"
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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.ros2 import GO2Real, ros2_init, ROS2ExecutorManager\n",
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"import time\n",
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"ros2_init()\n",
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"robot = GO2Real(mode='lowlevel')\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.start()"
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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": 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(10000):\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.zeros(12)\n",
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" kd = np.zeros(12)\n",
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" tau = np.zeros(12)\n",
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" tau[0] = -0.8\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 Interface Test"
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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 3.8.10)\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.ros2 import GO2Real, ros2_init, ROS2ExecutorManager\n",
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"import time\n",
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"ros2_init()\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.add_node(robot)\n",
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"ros2_exec_manager.start()"
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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([-0.04306209, 1.25783372, -2.80307055, 0.01638752, 1.26682615,\n",
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" -2.79090714, -0.3640998 , 1.27342117, -2.8037343 , 0.34069526,\n",
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" 1.27865911, -2.80908942]),\n",
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" 'dq': array([ 0.06975943, 0.00775105, -0.0323522 , 0.00387552, 0.03875524,\n",
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" 0. , -0.03875524, 0.00775105, 0.01819811, 0.04263076,\n",
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" 0.04263076, -0.01011006])}"
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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.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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}
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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": "3.8.10"
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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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