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9 months ago | |
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| dora_mujoco_husky | 10 months ago | |
| tests | 10 months ago | |
| README.md | 10 months ago | |
| demo.yml | 10 months ago | |
| pyproject.toml | 9 months ago | |
A MuJoCo-based Clearpath Husky simulation node for the Dora framework. This node provides a physics-accurate simulation of the Husky robot that can be controlled via velocity commands.
uv venv -p 3.11 --seed
source .venv/bin/activate
uv pip install -e .
dora build demo.yml --uv
dora run demo.yml --uv
The node accepts velocity commands and outputs position/velocity data:
cmd_vel: Velocity command array with the format:
position: Robot position [x, y, z] in world coordinatesvelocity: Robot velocity [vx, vy, vz] in world coordinatesnodes:
- id: mujoco_husky
build: pip install -e .
path: dora-mujoco-husky
inputs:
cmd_vel: input_source/cmd_vel
outputs:
- position
- velocity
Format code using ruff:
uv pip install ruff
uv run ruff check . --fix
Run linting checks:
uv run ruff check .
Run tests using pytest:
uv pip install pytest
uv run pytest .
This project is licensed under the MIT License - see the LICENSE file for details.
DORA (Dataflow-Oriented Robotic Architecture) is middleware designed to streamline and simplify the creation of AI-based robotic applications. It offers low latency, composable, and distributed datafl
Rust Python TOML Markdown C other