rafaelcaricio/Open_Duck_Mini_Runtime
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apirrone 2025-04-07 12:46:28 +02:00
parent c04594bf32
commit 2817727475
3 changed files with 16 additions and 4 deletions
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13
mini_bdx_runtime/mini_bdx_runtime/rustypot_position_hwi.py
View file

@ -182,8 +182,11 @@ class HWI:
# present_positions = np.deg2rad(
# self.control.io.get_present_position(self.joints.values())
# )
present_positions = self.io.read_present_position(list(self.joints.values()))
try:
present_positions = self.io.read_present_position(list(self.joints.values()))
except Exception as e:
print(e)
return None
# present_positions = np.deg2rad(self.control.get_present_position())
present_positions = [
pos - self.joints_offsets[joint]
@ -196,7 +199,11 @@ class HWI:
"""
Returns the present velocities in rad/s (default) or rev/min
"""
present_velocities = self.io.read_present_velocity(list(self.joints.values()))
try:
present_velocities = self.io.read_present_velocity(list(self.joints.values()))
except Exception as e:
print(e)
return None
# present_velocities = np.array(self.control.get_current_speed())
present_velocities = [
vel

2
scripts/find_soft_offsets.py
View file

@ -47,6 +47,8 @@ try:
hwi.set_position_all(hwi.zero_pos)
time.sleep(0.5)
current_pos = hwi.get_present_positions()[i]
if current_pos is None:
continue
# hwi.control.kps[i] = 0
hwi.io.disable_torque([joint_id])
input(

5
scripts/v2_rl_walk_mujoco.py
View file

@ -157,6 +157,9 @@ class RLWalk:
]
) # rad/s
if dof_pos is None or dof_vel is None:
return None
if len(dof_pos) != self.num_dofs:
print(f"ERROR len(dof_pos) != {self.num_dofs}")
return None
@ -290,7 +293,7 @@ class RLWalk:
self.motor_targets = filtered_motor_targets
self.prev_motor_targets = self.motor_targets.copy()
head_motor_targets = self.last_commands[3:] + self.motor_targets[5:9]
self.motor_targets[5:9] = head_motor_targets