def get_step_trajectories(x0_, p_, ground_heights_=None):
if ground_heights_ is None:
total_leg_length = p_['spring_resting_length']
total_leg_length += p_['actuator_resting_length']
ground_heights_ = np.linspace(0, -0.5*total_leg_length, 10)
x0_ = sys.reset_leg(x0_, p_)
trajectories_ = list()
for height in ground_heights_:
x0_[-1] = height
trajectories_.append(sys.step(x0_, p_))
x0_[-1] = 0.0 # reset x0 back to 0
return trajectories_
def get_step_trajectories(x0, p, ground_heights=None):
'''
helper function to apply a battery of ground-height perturbations.
returns a list of trajectories.
'''
if ground_heights is None:
total_leg_length = p['resting_length']
total_leg_length += p['actuator_resting_length']
ground_heights = np.linspace(0, -0.5 * total_leg_length, 10)
x0 = model.reset_leg(x0, p)
trajectories = list()
for height in ground_heights:
x0[-1] = height
trajectories.append(model.step(x0, p))
x0[-1] = 0.0 # reset x0 back to 0
return trajectories
def get_step_trajectories(x0, p, ground_heights=None):
'''
helper function to apply a battery of ground-height perturbations.
returns a list of trajectories.
'''
if ground_heights is None:
total_leg_length = p['resting_length']
total_leg_length += p['actuator_resting_length']
ground_heights = np.linspace(0, -0.5 * total_leg_length, 10)
x0 = model.reset_leg(x0, p)
# start_idx = np.argwhere(~np.isclose(p['actuator_force'][1], 0))[0]
# time_to_activation = p['actuator_force'][0, start_idx]
trajectories = list()
for height in ground_heights:
x0[-1] = height
# time_to_touchdown = np.sqrt(2*(x0[5] - x0[-1])/p['gravity'])
# p['activation_delay'] = time_to_touchdown - time_to_activation
trajectories.append(model.step(x0, p))
x0[-1] = 0.0 # reset x0 back to 0
return trajectories