add bipedal_walk.py

Bipedal/bipedal_planner/bipedal_planner.py

@@ -1,3 +1,7 @@
+"""
+Class for bipedal walking planner
+Author: Takayuki Murooka (takayuki5168)
+"""
 import numpy as np
 import math
 from matplotlib import pyplot as plt

Bipedal/bipedal_planner/bipedal_walk.py

@@ -0,0 +1,19 @@
+"""
+Bipedal Walking with modifying designated footsteps
+Author: Takayuki Murooka (takayuki5168)
+"""
+from bipedal_planner import BipedalPlanner
+
+def main():
+    bipedal_planner = BipedalPlanner()
+    
+    footsteps = [[0.0, 0.2, 0.0],
+                 [0.3, 0.2, 0.0],
+                 [0.3, 0.2, 0.2],
+                 [0.3, 0.2, 0.2],
+                 [0.0, 0.2, 0.2]]
+    bipedal_planner.set_ref_footsteps(footsteps)
+    bipedal_planner.walk(plot=True)
+
+if __name__ == "__main__":
+    main()