Commit f59a3597 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[Examples] add all files and update README

parent cf9c85b8
......@@ -24,26 +24,40 @@ cs = ContactSequence()
cs.loadFromBinary(filename)
```
## Prefix notation
## Suffix notation
For the same scenario, several files may exist with different prefixes, here is the meaning of this prefixes:
For the same scenario, several files may exist with different Suffixes, here is the meaning of this Suffixes:
* No prefix: only contains the contacts placements, the initial and final CoM position and the initial and final wholeBody configuration.
* _COM prefix: also contains the phases duration and the centroidal trajectories (c, dc, ddc, L, dL)
* _REF prefix: also contains the end-effector trajectories for each swing phases
* _WB prefix: also contains all the WholeBody data (q, dq, ddq, tau, contact forces).
* No Suffix: only contains the contacts placements, the initial and final CoM position and the initial and final wholeBody configuration.
* _COM Suffix: also contains the phases duration and the centroidal trajectories (c, dc, ddc, L, dL)
* _REF Suffix: also contains the end-effector trajectories for each swing phases
* _WB Suffix: also contains all the WholeBody data (q, dq, ddq, tau, contact forces).
Note that the centroidal and end-effector trajectories contained in this file are not exactly the same as the ones in the _REF file, they are computed from the wholeBody motion.
## Scenarios
### com_motion_above_feet
Contact sequence with only one Contact Phase:
Starting from the reference configuration with both feet in contacts, the CoM is moved above the right feet (in 2 seconds) then above the left feet (in 3 seconds), then go back to the reference position (in 2 seconds).
### step_in_place_quasistatic
Starting from the reference configuration with both feet in contact with the ground, the Robot do 2 steps in place with each feet (starting with the right one).
The Centroidal motion is quasi-static : the CoM only move during the double support phase (duration 2s) and is fixed during the single support phase (duration 1.5s).
### step_in_place
Similar to above exept that the motion is not quasi-static and the double support duration is 0.2 seconds and the single support last 1 seconds.
### walk_20cm
Walk 1 meter forward with 20cm steps, starting with the right foot. The first and last steps are only 10cm long. Double support duration 0.2seconds, single support duration 1.2seconds.
### walk_20cm_quasistatic
### walk_10cm
Similar to above exept that the motion is quasistatic and the CoM only move during the double support phases. Double support duration 2 seconds, single support duration 2 seconds.
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