60 lines
1.4 KiB
Python
60 lines
1.4 KiB
Python
from mini_bdx_runtime.hwi import HWI
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from mini_bdx_runtime.rl_utils import make_action_dict, mujoco_joints_order
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import time
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import numpy as np
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import mujoco
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import mujoco_viewer
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import pickle
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hwi = HWI("/dev/ttyUSB0")
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hwi.turn_on()
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hwi.set_pid_all([1100, 0, 0])
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# hwi.set_pid([500, 0, 0], "neck_pitch")
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# hwi.set_pid([500, 0, 0], "head_pitch")
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# hwi.set_pid([500, 0, 0], "head_yaw")
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dt = 0.0001
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model = mujoco.MjModel.from_xml_path("../../mini_bdx/robots/bdx/scene.xml")
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model.opt.timestep = dt
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data = mujoco.MjData(model)
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mujoco.mj_step(model, data)
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viewer = mujoco_viewer.MujocoViewer(model, data)
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init_pos = list(hwi.init_pos.values())
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# init_pos += [0, 0]
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data.qpos[:13] = init_pos
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data.ctrl[:13] = init_pos
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dof = 7
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a = 0.3
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f = 3
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recording = {}
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recording["mujoco_vel"] = []
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recording["robot_vel"] = []
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try:
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while True:
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target = a * np.sin(2 * np.pi * f * time.time())
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full_target = init_pos.copy()
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full_target[dof] += target
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#
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data.ctrl[:13] = full_target
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action_dict = make_action_dict(full_target, mujoco_joints_order)
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hwi.set_position_all(action_dict)
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mujoco.mj_step(model, data, 50)
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mujoco_vel = data.qvel[dof]
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robot_vel = hwi.get_present_velocities()[dof]
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recording["mujoco_vel"].append(mujoco_vel)
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recording["robot_vel"].append(robot_vel)
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viewer.render()
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except KeyboardInterrupt:
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pickle.dump(recording, open("speeds.pkl", "wb"))
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