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sample program in bipedal_planner.py

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Takayuki Murooka
2019-01-26 23:15:21 +09:00
parent 9907323111
commit a0e32b3389
2 changed files with 2 additions and 21 deletions
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4
Bipedal/bipedal_planner/bipedal_planner.py
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@@ -1,6 +1,6 @@
"""
Class for bipedal walking planner
Author: Takayuki Murooka (takayuki5168)
Bipedal Walking with modifying designated footsteps
author: Takayuki Murooka (takayuki5168)
"""
import numpy as np
import math

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Bipedal/bipedal_planner/bipedal_walk.py
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@@ -1,19 +0,0 @@
"""
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()