17 lines
495 B
Python
17 lines
495 B
Python
from mini_bdx.placo_walk_engine.placo_walk_engine import PlacoWalkEngine
|
|
import time
|
|
from placo_utils.visualization import footsteps_viz, robot_frame_viz, robot_viz
|
|
import json
|
|
|
|
|
|
|
|
DT = 0.01
|
|
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")))
|
|
viz = robot_viz(pwe.robot)
|
|
|
|
pwe.set_traj(0.0, 0, 0.0)
|
|
while True:
|
|
pwe.tick(DT)
|
|
viz.display(pwe.robot.state.q)
|
|
time.sleep(DT)
|