63 lines
1.2 KiB
Python
63 lines
1.2 KiB
Python
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import requests
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import numpy as np
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np.set_printoptions(precision=3)
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url = "http://127.0.0.1:12000/unitree/z1"
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database = {
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"func": "",
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"args": {},
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}
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def labelRun(label):
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assert len(label) < 10
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# copy data
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data = database.copy()
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data["func"] = "labelRun"
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data["args"] = {
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"label": label,
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}
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return requests.post(url, json=data)
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def labelSave(label):
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assert len(label) < 10
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# copy data
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data = database.copy()
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data["func"] = "labelSave"
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data["args"] = {
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"label": label,
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}
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return requests.post(url, json=data)
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def backToStart():
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data = database.copy()
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data["func"] = "backToStart"
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return requests.post(url, json=data)
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def Passive():
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data = database.copy()
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data["func"] = "Passive"
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return requests.post(url, json=data)
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def getQ():
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data = database.copy()
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data["func"] = "getQ"
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return requests.post(url, json=data)
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def MoveJ(q: list, gripperPos = 0, speed = 0.5):
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assert len(q) == 6
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data = database.copy()
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data["func"] = "MoveJ"
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data["args"] = {
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"q": q,
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"gripperPos": gripperPos,
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"maxSpeed": speed,
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}
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return requests.post(url, json=data)
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# test
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labelRun("forward")
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backToStart()
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Passive()
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