UnitreeGoGait/python_testing at main · katie-hughes/UnitreeGoGait

Name	Name	Last commit message	Last commit date
parent directory ..
plots	plots
README.md	README.md
analyze_high_state.py	analyze_high_state.py
bezier.py	bezier.py
custom_stand_sit.txt	custom_stand_sit.txt
gait.py	gait.py
high_stand_sit.txt	high_stand_sit.txt
myCurve.txt	myCurve.txt
pd_controls.py	pd_controls.py
plotCurve.py	plotCurve.py

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Python Testing

bezier.py: This plots Bezier curves from a series of command points.
gait.py: This was a way of plotting my inverse kinematics functions in order to test their reliability
pd_controls.py: This was a way of visualizing the error in the standup procedure with different motor PD gains
plotCurve.py: This was a way of plotting the commanded foot position over time generated by my ROS node in order to make sure the position was reasonable. It reads from logger statements that are pasted into myCurve.txt
analyze_high_state.py: This was a way of visualizing the motor states when the dog stood up in high level mode. It reads from high_stand_sit.txt which was the output of a ros2 topic echo.