Commit d4ea3dc4 authored by Andrea Del Prete's avatar Andrea Del Prete
Browse files

[py] Add documentation

parent 85d22a6a
Pipeline #13418 passed with stage
in 26 minutes and 19 seconds
''' This script is a slight variation of ex_4_walking.py introduced to test the new
center of pressure (CoP) task. In this script, besides tracking a reference
center of mass (CoM), the TSID controller also tries to track a reference CoP.
The resulting motion doesn't look great because the reference CoP is an open-loop
reference trajectory, so it is not stabilizing, and it conflicts with the CoM task.
However, the results show that the CoP is tracked reasonably well during the motion,
which was the goal of the test, validating the CoP task.
'''
import numpy as np
from numpy import nan
from numpy.linalg import norm as norm
......
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