def get_lift_front_position(self, foot_position_relative_to, is_left):
lift_front_x = self.lift_up_x_side_length
lift_front_y = get_initial_leg_y(is_left)
lift_front_z = initial_foot_z + self.hip_offset
lift_front_position = foot_position_relative_to.translate(dx=lift_front_x, dy=lift_front_y, dz=lift_front_z)
return lift_front_position
def get_lift_front_position(self, foot_position_relative_to, is_left):
lift_front_x = self.lift_up_x_side_length
lift_front_y = get_initial_leg_y(is_left)
lift_front_z = initial_foot_z + self.hip_offset
lift_front_position = foot_position_relative_to.translate(
dx=lift_front_x, dy=lift_front_y, dz=lift_front_z)
return lift_front_position
def project_to_opposite_ground(position, is_left):
x = -position.x
y = get_initial_leg_y(is_left)
z = initial_foot_z # didn't add effect yet
return x, y, z
def project_to_opposite_ground(position, is_left):
x = -position.x
y = get_initial_leg_y(is_left)
z = initial_foot_z # didn't add effect yet
return x, y, z
