from trajectory import phase as Phs
from curves import piecewise, polynomial, SE3Curve
''' For reading the trajectory from Jiyai '''
with open('TSID_jump_Trajectory.p', 'rb') as f:
original_data = []
while True:
try:
data = pickle.load(f)
except EOFError:
break
original_data.append(data)
data_dict = original_data[0]['TSID_Trajectories']
data_size = len(data_dict)
Walk_phases = Phs.Phases(data_dict, 'jump')
CurveSet = traj.Interpolation(Walk_phases, 0.0005)
''' For Talos Controller '''
import talos_conf_jump as conf
from tsid_biped_jump import TsidBiped
import vizutils
import numpy as np
import pinocchio as pin
import copy
import tsid as TSID
np.set_printoptions(precision=4)
def get_COM_initial_traj(com, com_d=np.array([0.6, 0, 0.75])):
c0 = com.copy()
''' For reading the trajectory from Jiyai '''
with open('TSID_Trajectory.p', 'rb') as f:
original_data =[]
while True:
try:
data = pickle.load(f)
except EOFError:
break
original_data.append(data)
data_dict = original_data[0]['TSID_Trajectories']
data_size = len(data_dict)
Walk_phases = Phs.Phases(data_dict)
CurveSet = traj.Interpolation(Walk_phases, 0.0005)
''' For Talos Controller '''
import talos_conf as conf
from tsid_biped import TsidBiped
import vizutils
import numpy as np
import pinocchio as pin
import copy
import tsid as TSID
np.set_printoptions(precision=4)
def get_COM_initial_traj(com, com_d=np.array([0.6, 0, 0.8])):