COP_Task - Looking for the 'romeo_walking_traj_tsid.npz' file.

[Sabotm]

Hi !
I try to use the COP task based on the example in this file. I saw that for the COP task, ' DATA_FILE_TSID' is needed but I can't find the root file corresponding to 'romeo_walking_traj_tsid.npz' . I need it to understand what is clearly x_RF_ref , x_LF_ref and cop_ref.
Maybe it's my fault but if you can help with it, it would be great! :)
Thank you !

[andreadelprete]

Hi @Sabotm . To generate the date file you could use the other scripts in the same folder:

• ex_4_plan_LIPM_romeo.py
• ex_4_LIPM_to_TSID.py

The first script uses this Python library to generate a reference CoM trajectory for the robot. The second script interpolates this trajectory (which comes at a much lower frequency than what is needed for typical TSID use) and generates reference foot trajectories. I hope this helps.

[Sabotm]

Hi !
Thank you for your answer! I'll look at it!
The link to the Python library does not seem to work.

[fabinsch]

Hey @Sabotm, I achieved to use the scripts by cloning this library here: https://github.com/machines-in-motion/lmpc_walking into the exercizes folder as LMPC_walking.

[andreadelprete]

This issue is inactive since a while, so I close it, but feel free to reopen it if you need.