17 lines
495 B
Python
17 lines
495 B
Python
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from mini_bdx.placo_walk_engine.placo_walk_engine import PlacoWalkEngine
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import time
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from placo_utils.visualization import footsteps_viz, robot_frame_viz, robot_viz
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import json
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DT = 0.01
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pwe = PlacoWalkEngine("/home/antoine/MISC/mini_BDX/mini_bdx/robots/open_duck_mini_v2", model_filename="robot.urdf", init_params=json.load(open("placo_defaults.json")))
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viz = robot_viz(pwe.robot)
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pwe.set_traj(0.0, 0, 0.0)
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while True:
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pwe.tick(DT)
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viz.display(pwe.robot.state.q)
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time.sleep(DT)
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