dora-rs
/
dora
Not watched
1
0
Fork 0
Code
Releases 124 Wiki evaluate Activity
Issues 0 Pull Requests 0 Datasets Model Cloudbrain HPC
You can not select more than 25 topics Topics must start with a chinese character,a letter or number, can include dashes ('-') and can be up to 35 characters long.
Tree: 313a97cdae
Branches Tags
${ item.name }
Create branch ${ searchTerm }
from '313a97cdae'
${ noResults }
dora/examples/mujoco-sim/gamepad_control/gamepad_control_basic.yml

38 lines
937 B
Raw Blame History 

  1. nodes:

  2.   - id: gamepad

  3.     build: pip install -e ../../../node-hub/gamepad

  4.     path: gamepad

  5.     outputs:

  6.       - cmd_vel

  7.       - raw_control

  8.     inputs:

  9.       tick: dora/timer/millis/10

  10. 

  11.   - id: mujoco_sim

  12.     build: pip install -e ../../../node-hub/dora-mujoco

  13.     path: dora-mujoco

  14.     inputs:

  15.       tick: dora/timer/millis/2 # 500 Hz simulation

  16.       control_input: pytorch_kinematics/cmd_vel

  17.     outputs:

  18.       - joint_positions

  19.       - joint_velocities

  20.       - actuator_controls

  21.       - sensor_data

  22.     env:

  23.       MODEL_NAME: "iiwa14_mj_description"

  24. 

  25.   - id: pytorch_kinematics

  26.     build: pip install -e ../../../node-hub/dora-pytorch-kinematics

  27.     path: dora-pytorch-kinematics

  28.     inputs:

  29.       cmd_vel: gamepad/cmd_vel

  30.       pose: mujoco_sim/joint_positions

  31.     outputs:

  32.       - cmd_vel

  33.       - pose

  34.     env:

  35.       MODEL_NAME: "iiwa14_description"

  36.       END_EFFECTOR_LINK: "iiwa_link_7"

  37.       TRANSFORM: "0. 0. 0. 1. 0. 0. 0."