Simplify plot

rdesarz · rdesarz · commit 0d5b4bfdeaa1 · 2025-11-26T22:07:20.000+01:00
diff --git a/examples/example_4_physics_simulation.py b/examples/example_4_physics_simulation.py
@@ -15,7 +15,7 @@
 )
 
 from biped_walking_controller.inverse_kinematic import InvKinSolverParams, solve_inverse_kinematics
-from biped_walking_controller.plot import plot_feet_and_com, plot_contact_forces_and_state
+from biped_walking_controller.plot import plot_feet_and_com, plot_contact_forces
 
 from biped_walking_controller.preview_control import (
     PreviewControllerParams,
@@ -369,7 +369,7 @@ def main():
             zmp_ref=zmp_ref_plot,
         )
 
-        plot_contact_forces_and_state(t=t, force_rf=rf_forces, force_lf=lf_forces, states=[])
+        plot_contact_forces(t=t, force_rf=rf_forces, force_lf=lf_forces)
 
         plt.show()
 

Original file line number	Diff line number	Diff line change
`@@ -15,7 +15,7 @@`
`15`	`15`	`)`
`16`	`16`
`17`	`17`	`from biped_walking_controller.inverse_kinematic import InvKinSolverParams, solve_inverse_kinematics`
`18`		`-from biped_walking_controller.plot import plot_feet_and_com, plot_contact_forces_and_state`
	`18`	`+from biped_walking_controller.plot import plot_feet_and_com, plot_contact_forces`
`19`	`19`
`20`	`20`	`from biped_walking_controller.preview_control import (`
`21`	`21`	`PreviewControllerParams,`
`@@ -369,7 +369,7 @@ def main():`
`369`	`369`	`zmp_ref=zmp_ref_plot,`
`370`	`370`	`)`
`371`	`371`
`372`		`- plot_contact_forces_and_state(t=t, force_rf=rf_forces, force_lf=lf_forces, states=[])`
	`372`	`+ plot_contact_forces(t=t, force_rf=rf_forces, force_lf=lf_forces)`
`373`	`373`
`374`	`374`	`plt.show()`
`375`	`375`