✨ Adds script to play with kinematics

2025-10-10 18:21:06 +02:00
parent 51ee910fb6
commit 89a0316fb4
1 changed files with 45 additions and 0 deletions
@@ -0,0 +1,45 @@
+import time
+import numpy as np
+import pybullet as p
+
+from src.robot.kinematics import Kinematics, BodyStateT, KinConfig
+from src.robot.gait import GaitController, GaitStateT, GaitType, default_offset, default_stand_frac
+from src.envs.quadruped_env import QuadrupedEnv
+
+print("Initializing Spot Micro simulation...")
+
+env = QuadrupedEnv()
+
+joint_directions = np.array([-1, 1, 1, 1, 1, 1, -1, 1, 1, 1, 1, 1])
+
+kinematics = Kinematics()
+
+standby = kinematics.get_default_feet_pos()
+
+body_state = BodyStateT(
+    omega=0,
+    phi=0,
+    psi=0,
+    xm=0,
+    ym=KinConfig.default_body_height,
+    zm=0,
+    px=0,
+    py=0,
+    pz=0,
+    feet=standby,
+    default_feet=standby,
+)
+
+dt = 1.0 / 240
+while True:
+    env.gui.update_gait_state(gait_state)
+    env.gui.update()
+
+    joints = kinematics.inverse_kinematics(body_state)
+    joints *= joint_directions
+
+    _, _, done, truncated, _ = env.step(joints)
+    if done or truncated:
+        env.reset()
+
+    time.sleep(dt)