add office environment for mujoco

Author: paul-nechifor

assets/policies/go1_policy.onnx

@@ -0,0 +1,39 @@
+#!/usr/bin/env python
+
+"""
+Simple command line tool to trigger robot exploration.
+
+Usage:
+    explore_cmd.py start    # Start exploration
+    explore_cmd.py stop     # Stop exploration
+"""
+
+import sys
+from dimos.protocol.pubsub.lcmpubsub import LCM, Topic
+from dimos_lcm.std_msgs import Bool
+
+
+def main():
+    if len(sys.argv) != 2 or sys.argv[1] not in ["start", "stop"]:
+        print("Usage: bin/explore-cmd [start|stop]")
+        sys.exit(1)
+
+    command = sys.argv[1]
+
+    lcm = LCM()
+
+    msg = Bool()
+    msg.data = True
+
+    if command == "start":
+        topic = Topic("/explore_cmd", Bool)
+        lcm.publish(topic, msg)
+        print("✓ Sent start exploration command")
+    elif command == "stop":
+        topic = Topic("/stop_explore_cmd", Bool)
+        lcm.publish(topic, msg)
+        print("✓ Sent stop exploration command")
+
+
+if __name__ == "__main__":
+    main()

assets/robots/go1/assets/hfield.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3d607ce57127a6ac558f81ebb9c98bd23a71a86f9ffd5700b3389bf1a19ddf2
+size 59341859

assets/robots/go1/assets/rocky_texture.png

@@ -93,6 +93,8 @@ class WavefrontFrontierExplorer(Module):
     costmap: In[OccupancyGrid] = None
     odometry: In[PoseStamped] = None
     goal_reached: In[Bool] = None
+    explore_cmd: In[Bool] = None
+    stop_explore_cmd: In[Bool] = None
 
     # LCM outputs
     goal_request: Out[PoseStamped] = None
@@ -159,6 +161,12 @@ def start(self):
         if self.goal_reached.transport is not None:
             self.goal_reached.subscribe(self._on_goal_reached)
 
+        # Subscribe to exploration commands
+        if self.explore_cmd.transport is not None:
+            self.explore_cmd.subscribe(self._on_explore_cmd)
+        if self.stop_explore_cmd.transport is not None:
+            self.stop_explore_cmd.subscribe(self._on_stop_explore_cmd)
+
         logger.info("WavefrontFrontierExplorer started")
 
     @rpc
@@ -180,6 +188,18 @@ def _on_goal_reached(self, msg: Bool):
         if msg.data:
             self.goal_reached_event.set()
 
+    def _on_explore_cmd(self, msg: Bool):
+        """Handle exploration command messages."""
+        if msg.data:
+            logger.info("Received exploration start command via LCM")
+            self.explore()
+
+    def _on_stop_explore_cmd(self, msg: Bool):
+        """Handle stop exploration command messages."""
+        if msg.data:
+            logger.info("Received exploration stop command via LCM")
+            self.stop_exploration()
+
     def _count_costmap_information(self, costmap: OccupancyGrid) -> int:
         """
         Count the amount of information in a costmap (free space + obstacles).