|
| | amp = np.array([0.0, 0.05, 0.0]) |
| |
| | ax |
| |
| | com_acc = np.empty((3, N)) * nan |
| |
| | com_acc_des = np.empty((3, N)) * nan |
| |
| | com_acc_ref = np.empty((3, N)) * nan |
| |
| | com_pos = np.empty((3, N)) * nan |
| |
| | com_pos_ref = np.empty((3, N)) * nan |
| |
| | com_vel = np.empty((3, N)) * nan |
| |
| | com_vel_ref = np.empty((3, N)) * nan |
| |
| | dv = tsid.formulation.getAccelerations(sol) |
| |
| | f = tsid.formulation.getContactForce(tsid.contactRF.name, sol) |
| |
| | HQPData = tsid.formulation.computeProblemData(t, q, v) |
| |
| | label |
| |
| | leg = ax[i].legend() |
| |
| | N = conf.N_SIMULATION |
| |
| | offset = tsid.robot.com(tsid.formulation.data()) |
| |
| | q |
| |
| | sampleCom = tsid.trajCom.computeNext() |
| |
| | samplePosture = tsid.trajPosture.computeNext() |
| |
| | sol = tsid.solver.solve(HQPData) |
| |
| float | t = 0.0 |
| |
| | tau = tsid.formulation.getActuatorForces(sol) |
| |
| | time = np.arange(0.0, N * conf.dt, conf.dt) |
| |
| | time_spent = time.time() - time_start |
| |
| | time_start = time.time() |
| |
| | tsid = TsidBiped(conf, conf.viewer) |
| |
| int | two_pi_f = 2 * np.pi * np.array([0.0, 0.5, 0.0]) |
| |
| int | two_pi_f_amp = two_pi_f * amp |
| |
| int | two_pi_f_squared_amp = two_pi_f * two_pi_f_amp |
| |
| | v |
| |