Skip to content
GitLab
Menu
Projects
Groups
Snippets
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
Menu
Open sidebar
Stack Of Tasks
tsid
Commits
d4ea3dc4
Commit
d4ea3dc4
authored
Mar 10, 2021
by
Andrea Del Prete
Browse files
[py] Add documentation
parent
85d22a6a
Pipeline
#13418
passed with stage
in 26 minutes and 19 seconds
Changes
1
Pipelines
1
Hide whitespace changes
Inline
Side-by-side
exercizes/test_cop_task.py
View file @
d4ea3dc4
''' 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
...
...
Write
Preview
Markdown
is supported
0%
Try again
or
attach a new file
.
Attach a file
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment