review: remove aba and just use v

stack-of-tasks · Feb 2, 2024 · 1807fb2 · 1807fb2
1 parent b8cf42f
commit 1807fb2
Showing 1 changed file with 4 additions and 6 deletions.
diff --git a/examples/floating-base-velocity-viewer.py b/examples/floating-base-velocity-viewer.py
@@ -55,12 +55,10 @@ def pin_step(model, vizer, v_index_increment, dt = 0.1, enable_gravity=True):
 
     sleep(1)
 
-    a = pin.aba(model, data, q, v, tau)
-    v_next = v + a * dt
-    q_next = pin.integrate(model, q, v_next * dt)
+    q_next = pin.integrate(model, q, v * dt)
 
-    print(f"{a=}, {q_next=}, {v_next=}")
-    return q_next, v_next
+    print(f"{q_next=}")
+    return q_next
 
 
 if __name__ == "__main__":
@@ -86,7 +84,7 @@ def pin_step(model, vizer, v_index_increment, dt = 0.1, enable_gravity=True):
 
         for i in range(model.nv):
             print(f"v[{i}] += 1")
-            q_next, v_next = pin_step(model, vizer, i, dt=0.2, enable_gravity=False)
+            q_next = pin_step(model, vizer, i, dt=0.2, enable_gravity=False)
             vizer.display(q_next)
             sleep(2)