-
Notifications
You must be signed in to change notification settings - Fork 2
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
HeterogeneousRobotGraph & Heterogeneous Dataset for Go1 Simulated Data
- Loading branch information
1 parent
b3875b2
commit 5b9eea6
Showing
10 changed files
with
552 additions
and
175 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -1,17 +1,20 @@ | ||
from manim import * | ||
from grfgnn import RobotURDF | ||
from grfgnn import NormalRobotGraph | ||
|
||
|
||
class CreateURDF(Scene): | ||
|
||
def construct(self): | ||
|
||
# Load the A1 urdf | ||
path_to_urdf = Path(Path('.').parent, 'urdf_files', 'A1', 'a1.urdf').absolute() | ||
A1_URDF = RobotURDF(path_to_urdf, 'package://a1_description/', | ||
'unitree_ros/robots/a1_description', True) | ||
path_to_urdf = Path(Path('.').parent, 'urdf_files', 'A1', | ||
'a1.urdf').absolute() | ||
A1_URDF = NormalRobotGraph(path_to_urdf, 'package://a1_description/', | ||
'unitree_ros/robots/a1_description', True) | ||
|
||
# Create a Circle and give it text | ||
text = Text('base').scale(2) | ||
rect_1 = RoundedRectangle(corner_radius=0.5) | ||
|
||
self.play(Create(rect_1)) | ||
self.play(Write(text)) | ||
self.play(Write(text)) |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -1,12 +1,17 @@ | ||
from grfgnn import RobotURDF | ||
from grfgnn import NormalRobotGraph, HeterogeneousRobotGraph | ||
from pathlib import Path | ||
|
||
path_to_a1_urdf = Path(Path('.').parent, 'urdf_files', 'A1', 'a1.urdf').absolute() | ||
A1_URDF = RobotURDF(path_to_a1_urdf, 'package://a1_description/', | ||
'unitree_ros/robots/a1_description', True) | ||
# path_to_a1_urdf = Path(Path('.').parent, 'urdf_files', 'A1', | ||
# 'a1.urdf').absolute() | ||
# A1_URDF = NormalRobotGraph(path_to_a1_urdf, 'package://a1_description/', | ||
# 'unitree_ros/robots/a1_description', True) | ||
|
||
path_to_go1_urdf = Path(Path('.').parent, 'urdf_files', 'Go1', 'go1.urdf').absolute() | ||
GO1_URDF = RobotURDF(path_to_go1_urdf, 'package://go1_description/', | ||
'unitree_ros/robots/go1_description', True) | ||
path_to_go1_urdf = Path(Path('.').parent, 'urdf_files', 'Go1', | ||
'go1.urdf').absolute() | ||
# GO1_URDF = NormalRobotGraph(path_to_go1_urdf, 'package://go1_description/', | ||
# 'unitree_ros/robots/go1_description', True) | ||
|
||
print(GO1_URDF.robot_urdf.name) | ||
GO1_HETERO_GRAPH = HeterogeneousRobotGraph( | ||
path_to_go1_urdf, 'package://go1_description/', | ||
'unitree_ros/robots/go1_description', True) | ||
GO1_HETERO_GRAPH.display_graph_info() |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -1,2 +1,2 @@ | ||
from .urdfParser import RobotURDF | ||
from .graphParser import RobotGraph, NormalRobotGraph, HeterogeneousRobotGraph | ||
from .datasets import CerberusStreetDataset, CerberusTrackDataset, CerberusCampusDataset, Go1SimulatedDataset, FlexibleDataset |
Oops, something went wrong.