28 lines
732 B
Python
28 lines
732 B
Python
# from unitree_go.msg.dds_ import LowState_, LowCmd_, MotorCmd_, BmsCmd_
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from msgs import LowCmd
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import cyclonedds.idl.types as types
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from cyclonedds.domain import DomainParticipant
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from cyclonedds.pub import DataWriter
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from cyclonedds.topic import Topic
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from cyclonedds.util import duration
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import time
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# Create a DomainParticipant, your entrypoint to DDS
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# Created in the default domain
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dp = DomainParticipant(0)
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# Create a Topic with topic name "Hello" and as datatype "HelloWorld" structs.
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tp = Topic(dp, "go2py/lowcmd", LowCmd)
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dw = DataWriter(dp, tp)
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cmd = LowCmd(
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q=12 * [0.],
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dq=12 * [0.],
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tau_ff=12 * [0.],
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kp=12 * [0.],
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kv=12 * [0.],
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e_stop=0
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)
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while True:
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dw.write(cmd)
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time.sleep(0.01)
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