Variables
	contact

	contact_Point = np.matrix(np.ones((3, 4)) * lz)

	contactNormal = np.matrix(np.zeros(3)).transpose()

	data = robot.data()

	f = np.matrix(np.zeros(12)).transpose()

	f3 = np.matrix(np.zeros(3)).transpose()

	filename = str(os.path.dirname(os.path.abspath(__file__)))

float	fMax = 1000.0

float	fMin = 10.0

	forceGenMat = contact.getForceGeneratorMatrix

	forceIneq = contact.computeForceTask(t, q, v, data)

string	frameName = "RAnkleRoll"

	H_ref = robot.position(data, robot.model().getJointId(frameName))

int	Kd = 2 * Kp

	Kp = np.matrix(np.ones(6)).transpose()

float	lx = 0.07

float	ly = 0.12

float	lz = 0.105

	model = robot.model()

float	mu = 0.3

string	path = filename + "/../models/romeo"

	q = model.neutralConfiguration

	robot = tsid.RobotWrapper(urdf, vector, se3.JointModelFreeFlyer(), False)

float	t = 0.0

int	tol = 1e-5

string	urdf = path + "/urdf/romeo.urdf"

	v = np.matrix(np.zeros(robot.nv)).transpose()

	vector = se3.StdVec_StdString()

Variable Documentation

◆ contact

test_Contact.contact

Initial value:

 =  tsid.Contact6d(
     "contact6d", robot, frameName, contact_Point, contactNormal, mu, fMin, fMax, 1e-3
 )

Definition at line 37 of file test_Contact.py.

◆ contact_Point

test_Contact.contact_Point = np.matrix(np.ones((3, 4)) * lz)

Definition at line 33 of file test_Contact.py.

◆ contactNormal

test_Contact.contactNormal = np.matrix(np.zeros(3)).transpose()

Definition at line 31 of file test_Contact.py.

◆ data

test_Contact.data = robot.data()

Definition at line 21 of file test_Contact.py.

◆ f

test_Contact.f = np.matrix(np.zeros(12)).transpose()

Definition at line 64 of file test_Contact.py.

◆ f3

test_Contact.f3 = np.matrix(np.zeros(3)).transpose()

Definition at line 62 of file test_Contact.py.

◆ filename

test_Contact.filename = str(os.path.dirname(os.path.abspath(__file__)))

Definition at line 14 of file test_Contact.py.

◆ fMax

float test_Contact.fMax = 1000.0

Definition at line 28 of file test_Contact.py.

◆ fMin

float test_Contact.fMin = 10.0

Definition at line 27 of file test_Contact.py.

◆ forceGenMat

test_Contact.forceGenMat = contact.getForceGeneratorMatrix

Definition at line 71 of file test_Contact.py.

◆ forceIneq

test_Contact.forceIneq = contact.computeForceTask(t, q, v, data)

Definition at line 61 of file test_Contact.py.

◆ frameName

string test_Contact.frameName = "RAnkleRoll"

Definition at line 29 of file test_Contact.py.

◆ H_ref

test_Contact.H_ref = robot.position(data, robot.model().getJointId(frameName))

Definition at line 56 of file test_Contact.py.

◆ Kd

int test_Contact.Kd = 2 * Kp

Definition at line 45 of file test_Contact.py.

◆ Kp

test_Contact.Kp = np.matrix(np.ones(6)).transpose()

Definition at line 44 of file test_Contact.py.

◆ lx

float test_Contact.lx = 0.07

Definition at line 23 of file test_Contact.py.

◆ ly

float test_Contact.ly = 0.12

Definition at line 24 of file test_Contact.py.

◆ lz

float test_Contact.lz = 0.105

Definition at line 25 of file test_Contact.py.

◆ model

test_Contact.model = robot.model()

Definition at line 20 of file test_Contact.py.

◆ mu

float test_Contact.mu = 0.3

Definition at line 26 of file test_Contact.py.

◆ path

string test_Contact.path = filename + "/../models/romeo"

Definition at line 15 of file test_Contact.py.

◆ q

test_Contact.q = model.neutralConfiguration

Definition at line 52 of file test_Contact.py.

◆ robot

test_Contact.robot = tsid.RobotWrapper(urdf, vector, se3.JointModelFreeFlyer(), False)

Definition at line 19 of file test_Contact.py.

◆ t

float test_Contact.t = 0.0

Definition at line 59 of file test_Contact.py.

◆ tol

int test_Contact.tol = 1e-5

Definition at line 11 of file test_Contact.py.

◆ urdf

string test_Contact.urdf = path + "/urdf/romeo.urdf"

Definition at line 16 of file test_Contact.py.

◆ v

test_Contact.v = np.matrix(np.zeros(robot.nv)).transpose()

Definition at line 53 of file test_Contact.py.

◆ vector

test_Contact.vector = se3.StdVec_StdString()

Definition at line 17 of file test_Contact.py.

Variables