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🎨 Fixes gait in sim

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This commit is contained in:
Rune Harlyk
2025-10-10 18:54:42 +02:00
committed by Rune Harlyk
parent 89a0316fb4
commit 46bb5f74b1
4 changed files with 43 additions and 39 deletions
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simulation/src/utils/gui.py
+5 -15
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@@ -26,22 +26,18 @@ class GUI:
self.step_x_slider = p.addUserDebugParameter("Step x", -1, 1, 0)
self.step_z_slider = p.addUserDebugParameter("Step z", -1, 1, 0)
self.angle_slider = p.addUserDebugParameter("Angle", -1, 1, 0)
self.step_height_slider = p.addUserDebugParameter("Step height", 0, 50, 15)
self.step_height_slider = p.addUserDebugParameter("Step height", 0, 1, 0.5)
self.step_depth_slider = p.addUserDebugParameter("Step depth", 0, 0.01, 0.002)
self.speed_slider = p.addUserDebugParameter("Speed", 0, 2, 1)
self.stand_frac_slider = p.addUserDebugParameter("Stand frac", 0, 1, 0.5)
self.stand_frac_slider = p.addUserDebugParameter("Stand frac", 0, 1, 0.75)
self.gait_type_slider = p.addUserDebugParameter("Gait Type", 0, len(GaitType) - 1, 0)
# self.gait_type_slider = p.addUserDebugParameter("Gait Type", 0, len(GaitType) - 1, 0, paramType=p.GUI_ENUM,
# enumNames=[g.value for g in GaitType])
self.last_gait_type = GaitType.TROT_GATE
def update_gait_state(self, gait_state: GaitStateT):
gait_state["step_x"] = p.readUserDebugParameter(self.step_x_slider)
gait_state["step_z"] = p.readUserDebugParameter(self.step_z_slider)
gait_state["step_x"] = p.readUserDebugParameter(self.step_x_slider) * KinConfig.max_step_length
gait_state["step_z"] = p.readUserDebugParameter(self.step_z_slider) * KinConfig.max_step_length
gait_state["step_angle"] = p.readUserDebugParameter(self.angle_slider)
gait_state["step_height"] = p.readUserDebugParameter(self.step_height_slider)
gait_state["step_height"] = p.readUserDebugParameter(self.step_height_slider) * KinConfig.max_step_height
gait_state["step_depth"] = p.readUserDebugParameter(self.step_depth_slider)
gait_state["step_velocity"] = p.readUserDebugParameter(self.speed_slider)
gait_state["stand_frac"] = p.readUserDebugParameter(self.stand_frac_slider)
@@ -61,12 +57,6 @@ class GUI:
body_state["pz"] = p.readUserDebugParameter(self.pivot_z_slider) * KinConfig.max_body_shift_z
def update(self):
gait_type = GaitType(int(p.readUserDebugParameter(self.gait_type_slider)))
if gait_type != self.last_gait_type:
self.last_gait_type = gait_type
p.removeUserDebugItem(self.stand_frac_slider)
self.stand_frac_slider = p.addUserDebugParameter("Stand frac", 0, 1, default_stand_frac[gait_type])
quadruped_pos, _ = p.getBasePositionAndOrientation(self.robot)
p.resetDebugVisualizerCamera(
cameraDistance=self.c_distance,