class TripodGait: ''' Implements a two-phase tripod gait. ''' def __init__(self, body_model): self.model = body_model self.fv_path = FeetVelocities(self.model) self.fv_path.setVelocities([array([0.2,0.0,0.0])] * NUM_LEGS) def isDone(self): return False def update(self): return self.fv_path.update()
class TripodGait: """ Implements a two-phase tripod gait. """ def __init__(self, body_model): self.model = body_model self.fv_path = FeetVelocities(self.model) self.fv_path.setVelocities([array([0.2, 0.0, 0.0])] * NUM_LEGS) def isDone(self): return False def update(self): return self.fv_path.update()
def __init__(self, body_model): self.model = body_model self.fv_path = FeetVelocities(self.model) self.fv_path.setVelocities([array([0.2, 0.0, 0.0])] * NUM_LEGS)