OliEfr

from __future__ import annotations
from collections.abc import Sequence
import torch


class OscillatorGaitGenerator:
    """
    Generates a rhythmic trotting gait using oscillators and analytical IK.
    """

OliEfr

//create snowflake css
let snowflakeCss = ".snowflake {color: #fff;font-size: 1em;font-family: Arial, sans-serif;text-shadow: 0 0 5px #000;}@-webkit-keyframes snowflakes-fall{0%{top:-10%}100%{top:100%}}@-webkit-keyframes snowflakes-shake{0%,100%{-webkit-transform:translateX(0);transform:translateX(0)}50%{-webkit-transform:translateX(80px);transform:translateX(80px)}}@keyframes snowflakes-fall{0%{top:-10%}100%{top:100%}}@keyframes snowflakes-shake{0%,100%{transform:translateX(0)}50%{transform:translateX(80px)}}.snowflake{position:fixed;top:-10%;z-index:9999;-webkit-user-select:none;-moz-user-select:none;-ms-user-select:none;user-select:none;cursor:default;-webkit-animation-name:snowflakes-fall,snowflakes-shake;-webkit-animation-duration:10s,3s;-webkit-animation-timing-function:linear,ease-in-out;-webkit-animation-iteration-count:infinite,infinite;-webkit-animation-play-state:running,running;animation-name:snowflakes-fall,snowflakes-shake;animation-duration:10s,3s;animation-timing-function:linear,ease-in-out;an