step()

float step	(		self,
		float	target_ground_velocity,
		dict	spine_observation,
		float	dt,
		str	qp_solver = "proxqp"
	)

Compute a new ground velocity.

Parameters

target_ground_velocity	Target ground velocity in m/s.
spine_observation	Latest observation dictionary from a spine.
dt	Duration in seconds until the next cycle.
qp_solver	Alternative QP solver to use when not warm-starting.

Returns

New ground velocity, in m/s.