Here is a list of all class members with links to the classes they belong to:

- o -

• obs() : pendulum.Pendulum
• offset() : pinocchio::JointModelMimicTpl< _Scalar, _Options, JointCollectionTpl >
• offsets : pinocchio::MimicTestCases
• old_path : pinocchio.windows_dll_manager.PathManager
• op() : pinocchio::apply_op_if< OP, condition, default_return_value > , pinocchio::apply_op_if< OP, true, default_return_value >
• opCorrespondances : pinocchio.romeo_wrapper.RomeoWrapper
• openEnded : pinocchio.visualize.meshcat_visualizer.Cone
• operator ActionMatrixType() : pinocchio::SE3Base< Derived >
• operator HomogeneousMatrixType() : pinocchio::SE3Base< Derived >
• operator Matrix3() : pinocchio::Symmetric3Tpl< _Scalar, _Options >
• operator Matrix6() : pinocchio::InertiaBase< Derived > , pinocchio::MotionBase< Derived >
• operator Matrix6x() : pinocchio::ForceSetTpl< _Scalar, _Options >
• operator PlainReturnType() : pinocchio::MotionBase< Derived >
• operator PlainType() : pinocchio::TransformHelicalTpl< _Scalar, _Options, axis > , pinocchio::TransformPrismaticTpl< _Scalar, _Options, axis > , pinocchio::TransformRevoluteTpl< _Scalar, _Options, axis > , pinocchio::TransformTranslationTpl< _Scalar, _Options >
• operator Symmetric3Tpl() : pinocchio::Symmetric3Tpl< _Scalar, _Options >::AlphaSkewSquare , pinocchio::Symmetric3Tpl< _Scalar, _Options >::SkewSquare
• operator Vector6() : pinocchio::ForceBase< Derived > , pinocchio::MotionBase< Derived >
• operator!=() : pinocchio::BaumgarteCorrectorParametersTpl< _Scalar > , pinocchio::CollisionPair , pinocchio::ConstraintDataTpl< _Scalar, _Options, ConstraintCollectionTpl > , pinocchio::CoulombFrictionConeTpl< _Scalar > , pinocchio::DualCoulombFrictionConeTpl< _Scalar > , pinocchio::ForceBase< Derived > , pinocchio::FrameTpl< _Scalar, _Options > , pinocchio::GeometryData , pinocchio::GeometryModel , pinocchio::GeometryObject , pinocchio::InertiaBase< Derived > , pinocchio::JointDataBase< Derived > , pinocchio::JointDataTpl< _Scalar, _Options, JointCollectionTpl > , pinocchio::JointModelBase< Derived > , pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl > , pinocchio::LanczosDecompositionTpl< _Matrix > , pinocchio::LieGroupBase< Derived > , pinocchio::LieGroupGenericTpl< LieGroupCollection > , pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl > , pinocchio::MotionBase< Derived > , pinocchio::SE3Base< Derived > , pinocchio::Symmetric3Tpl< _Scalar, _Options > , pinocchio::Tensor< Scalar_, NumIndices_, Options_, IndexType > , pinocchio::TridiagonalSymmetricMatrixTpl< _Scalar, _Options >
• operator()() : AppendJointToModel , Eigen::internal::scalar_max_op< S1, ::casadi::Matrix< S2 > > , Eigen::internal::scalar_max_op<::casadi::Matrix< S1 >, S2 > , Eigen::internal::scalar_max_op<::casadi::Matrix< Scalar >, ::casadi::Matrix< Scalar > > , FiniteDiffJoint , Launcher , LieGroup_dIntegrateTransport , LieGroup_Jdifference , LieGroup_Jintegrate< around_identity > , LieGroup_JintegrateCoeffWise , LieGroup_JintegrateJdifference , pinocchio::ConstraintModelCreateDataVisitor< Scalar, Options, ConstraintCollectionTpl > , pinocchio::fusion::ConstraintUnaryVisitorBase< ConstraintModelVisitorDerived, ReturnType >::InternalVisitorModel< Scalar, Options, ConstraintCollectionTpl, ArgsTmp > , pinocchio::fusion::ConstraintUnaryVisitorBase< ConstraintModelVisitorDerived, ReturnType >::InternalVisitorModelAndData< Scalar, Options, ConstraintCollectionTpl, ArgsTmp > , pinocchio::fusion::JointBinaryVisitorBase< JointVisitorDerived, ReturnType >::InternalVisitorModel< ArgType, Dummy > , pinocchio::fusion::JointBinaryVisitorBase< JointVisitorDerived, ReturnType >::InternalVisitorModel< NoArg, Dummy > , pinocchio::fusion::JointBinaryVisitorBase< JointVisitorDerived, ReturnType >::InternalVisitorModelAndData< JointModel1, JointModel2, ArgType > , pinocchio::fusion::JointBinaryVisitorBase< JointVisitorDerived, ReturnType >::InternalVisitorModelAndData< JointModel1, JointModel2, NoArg > , pinocchio::fusion::JointUnaryVisitorBase< JointVisitorDerived, ReturnType >::InternalVisitorModel< ArgType, Dummy > , pinocchio::fusion::JointUnaryVisitorBase< JointVisitorDerived, ReturnType >::InternalVisitorModel< NoArg, Dummy > , pinocchio::fusion::JointUnaryVisitorBase< JointVisitorDerived, ReturnType >::InternalVisitorModelAndData< JointModel, ArgType > , pinocchio::fusion::JointUnaryVisitorBase< JointVisitorDerived, ReturnType >::InternalVisitorModelAndData< JointModel, NoArg > , pinocchio::GeometryObjectFilterNothing , pinocchio::GeometryObjectFilterSelectByJoint , pinocchio::InstanceFilterBase< T > , pinocchio::JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > , pinocchio::MotionSphericalTpl< _Scalar, _Options > , pinocchio::MotionTranslationTpl< _Scalar, _Options > , pinocchio::python::ExtractJointDataVariantTypeVisitor< JointData > , pinocchio::python::ExtractJointModelVariantTypeVisitor< JointModel > , pinocchio::python::internal::function_wrapper< R(*)(Args...)> , pinocchio::python::JointDataExposer , pinocchio::python::JointModelCompositeAddJointVisitor , pinocchio::python::JointModelCompositeConstructorVisitor , pinocchio::python::JointModelExposer , pinocchio::python::JointModelMimicConstructorVisitor , pinocchio::python::JointVariantVisitor< VariantType > , pinocchio::Symmetric3Tpl< _Scalar, _Options > , pinocchio::Tensor< Scalar_, NumIndices_, Options_, IndexType > , std::equal_to<::casadi::Matrix< Scalar > > , TestADOnJoints , TestCartesianProduct< Scalar, Options, LieGroupCollectionTpl > , TestJoint , TestJointComposite , TestJointConstraint , TestJointData , TestJointMethods , TestJointMimic< MimicConfigurationTransform, MimicIdentity > , TestJointModel< TestDerived > , TestJointMotion , TestJointOperatorEqual , TestJointTransform , TestLieGroupVariantVisitor< LieGroupCollection >
• operator*() : pinocchio::CartesianAxis< _axis > , pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > , pinocchio::ForceBase< Derived > , pinocchio::InertiaBase< Derived > , pinocchio::JointMotionSubspaceBase< Derived > , pinocchio::JointMotionSubspaceHelicalTpl< _Scalar, _Options, axis >::TransposeConst , pinocchio::JointMotionSubspaceHelicalUnalignedTpl< _Scalar, _Options >::TransposeConst , pinocchio::JointMotionSubspaceIdentityTpl< _Scalar, _Options >::TransposeConst , pinocchio::JointMotionSubspacePlanarTpl< _Scalar, _Options >::ConstraintTranspose , pinocchio::JointMotionSubspacePrismaticTpl< _Scalar, _Options, axis >::TransposeConst , pinocchio::JointMotionSubspacePrismaticUnalignedTpl< _Scalar, _Options >::TransposeConst , pinocchio::JointMotionSubspaceRevoluteTpl< _Scalar, _Options, axis >::TransposeConst , pinocchio::JointMotionSubspaceRevoluteUnalignedTpl< _Scalar, _Options >::TransposeConst , pinocchio::JointMotionSubspaceSphericalTpl< _Scalar, _Options >::TransposeConst , pinocchio::JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options >::ConstraintTranspose , pinocchio::JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim > , pinocchio::JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim >::Transpose , pinocchio::JointMotionSubspaceTranslationTpl< _Scalar, _Options >::ConstraintTranspose , pinocchio::JointMotionSubspaceUniversalTpl< _Scalar, _Options >::TransposeConst , pinocchio::MotionBase< Derived > , pinocchio::ScaledJointMotionSubspaceTpl< _Scalar, _Options, _MaxDim >::TransposeConst , pinocchio::SE3Base< Derived > , pinocchio::SpatialAxis< _axis > , pinocchio::Symmetric3Tpl< _Scalar, _Options > , pinocchio::TridiagonalSymmetricMatrixInverse< _TridiagonalSymmetricMatrix > , pinocchio::TridiagonalSymmetricMatrixTpl< _Scalar, _Options >
• operator*=() : pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > , pinocchio::Symmetric3Tpl< _Scalar, _Options >
• operator+() : pinocchio::ForceBase< Derived > , pinocchio::ForceDense< Derived > , pinocchio::InertiaBase< Derived > , pinocchio::MotionBase< Derived > , pinocchio::MotionDense< Derived > , pinocchio::Symmetric3Tpl< _Scalar, _Options >
• operator+=() : pinocchio::ForceBase< Derived > , pinocchio::ForceDense< Derived > , pinocchio::InertiaBase< Derived > , pinocchio::MotionBase< Derived > , pinocchio::MotionDense< Derived > , pinocchio::Symmetric3Tpl< _Scalar, _Options >
• operator-() : pinocchio::ForceBase< Derived > , pinocchio::ForceDense< Derived > , pinocchio::InertiaBase< Derived > , pinocchio::MotionBase< Derived > , pinocchio::MotionDense< Derived > , pinocchio::Symmetric3Tpl< _Scalar, _Options >
• operator-=() : pinocchio::ForceBase< Derived > , pinocchio::ForceDense< Derived > , pinocchio::InertiaBase< Derived > , pinocchio::MotionBase< Derived > , pinocchio::MotionDense< Derived > , pinocchio::Symmetric3Tpl< _Scalar, _Options >
• operator/() : pinocchio::ForceBase< Derived > , pinocchio::MotionBase< Derived >
• operator<< : pinocchio::CollisionPair , pinocchio::CsvStream , pinocchio::ForceBase< Derived > , pinocchio::ForceSetTpl< _Scalar, _Options > , pinocchio::GeometryData , pinocchio::GeometryModel , pinocchio::GeometryObject , pinocchio::InertiaBase< Derived > , pinocchio::JointDataBase< Derived > , pinocchio::JointModelBase< Derived > , pinocchio::JointMotionSubspaceBase< Derived > , pinocchio::LogCholeskyParametersTpl< _Scalar, _Options > , pinocchio::MotionBase< Derived > , pinocchio::PseudoInertiaTpl< _Scalar, _Options > , pinocchio::SE3Base< Derived > , pinocchio::SpatialAxis< _axis > , pinocchio::Symmetric3Tpl< _Scalar, _Options >
• operator=() : pinocchio::BroadPhaseManagerBase< Derived > , pinocchio::ConstraintModelBase< Derived > , pinocchio::CoulombFrictionConeTpl< _Scalar > , pinocchio::DualCoulombFrictionConeTpl< _Scalar > , pinocchio::ForceBase< Derived > , pinocchio::ForceDense< Derived > , pinocchio::ForceSetTpl< _Scalar, _Options >::Block , pinocchio::ForceTpl< _Scalar, _Options > , pinocchio::FrameTpl< _Scalar, _Options > , pinocchio::GeometryData , pinocchio::GeometryObject , pinocchio::InertiaBase< Derived > , pinocchio::InertiaTpl< _Scalar, _Options > , pinocchio::JointDataMimicTpl< _Scalar, _Options, JointCollectionTpl > , pinocchio::JointModelBase< Derived > , pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > , pinocchio::LieGroupBase< Derived > , pinocchio::LieGroupGenericTpl< LieGroupCollection > , pinocchio::MotionDense< Derived > , pinocchio::MotionTpl< _Scalar, _Options > , pinocchio::MotionTranslationTpl< _Scalar, _Options > , pinocchio::ScaledJointMotionSubspaceTpl< _Scalar, _Options, _MaxDim > , pinocchio::SE3Tpl< _Scalar, _Options > , pinocchio::Symmetric3Tpl< _Scalar, _Options > , pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >
• operator==() : pinocchio::BaumgarteCorrectorParametersTpl< _Scalar > , pinocchio::CollisionPair , pinocchio::ConstraintDataTpl< _Scalar, _Options, ConstraintCollectionTpl > , pinocchio::ConstraintModelBase< Derived > , pinocchio::CoulombFrictionConeTpl< _Scalar > , pinocchio::DualCoulombFrictionConeTpl< _Scalar > , pinocchio::fcl::FakeCollisionGeometry , pinocchio::ForceBase< Derived > , pinocchio::FrameTpl< _Scalar, _Options > , pinocchio::GeometryData , pinocchio::GeometryModel , pinocchio::GeometryNoMaterial , pinocchio::GeometryObject , pinocchio::GeometryPhongMaterial , pinocchio::InertiaBase< Derived > , pinocchio::JointDataBase< Derived > , pinocchio::JointDataTpl< _Scalar, _Options, JointCollectionTpl > , pinocchio::JointModelBase< Derived > , pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl > , pinocchio::JointMotionSubspaceBase< Derived > , pinocchio::LanczosDecompositionTpl< _Matrix > , pinocchio::LieGroupBase< Derived > , pinocchio::LieGroupGenericTpl< LieGroupCollection > , pinocchio::ModelItem< Derived > , pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl > , pinocchio::MotionBase< Derived > , pinocchio::SE3Base< Derived > , pinocchio::Symmetric3Tpl< _Scalar, _Options > , pinocchio::Tensor< Scalar_, NumIndices_, Options_, IndexType > , pinocchio::TridiagonalSymmetricMatrixTpl< _Scalar, _Options >
• operator[]() : Eigen::array< T, n >
• opti : quadrotor-ocp.OptimalControlProblem
• optim : continuous.PolicyNetwork , continuous.QValueNetwork , qnet.QValueNetwork
• Options : pinocchio.casadi::AutoDiffAlgoBase< _Scalar > , pinocchio::BroadPhaseManagerPoolBase< _BroadPhaseManagerDerived, _Scalar, _Options, JointCollectionTpl > , pinocchio::CodeGenBase< _Scalar > , pinocchio::ConstraintCollectionTpl< _Scalar, _Options > , pinocchio::ConstraintDataTpl< _Scalar, _Options, ConstraintCollectionTpl > , pinocchio::ConstraintModelBase< Derived > , pinocchio::ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl > , pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl > , pinocchio::DelassusOperatorDenseTpl< _Scalar, _Options > , pinocchio::DelassusOperatorSparseTpl< _Scalar, _Options, SparseCholeskyDecomposition > , pinocchio::ForceSetTpl< _Scalar, _Options > , pinocchio::ForceTpl< _Scalar, _Options > , pinocchio::FrameTpl< _Scalar, _Options > , pinocchio::GeometryData , pinocchio::GeometryModel , pinocchio::GeometryObject , pinocchio::GeometryPoolTpl< _Scalar, _Options, JointCollectionTpl > , pinocchio::InertiaTpl< _Scalar, _Options > , pinocchio::JointCollectionDefaultTpl< _Scalar, _Options > , pinocchio::JointHelicalTpl< _Scalar, _Options, _axis > , pinocchio::JointPrismaticTpl< _Scalar, _Options, _axis > , pinocchio::JointRevoluteTpl< _Scalar, _Options, _axis > , pinocchio::LanczosDecompositionTpl< _Matrix > , pinocchio::LieGroupBase< Derived > , pinocchio::LieGroupCollectionDefaultTpl< _Scalar, _Options > , pinocchio::LieGroupGenericTpl< LieGroupCollection > , pinocchio::LogCholeskyParametersTpl< _Scalar, _Options > , pinocchio::ModelItem< Derived > , pinocchio::ModelPoolTpl< _Scalar, _Options, JointCollectionTpl > , pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl > , pinocchio::MotionTpl< _Scalar, _Options > , pinocchio::PseudoInertiaTpl< _Scalar, _Options > , pinocchio::python::ForcePythonVisitor< Force > , pinocchio::python::InertiaPythonVisitor< Inertia > , pinocchio::python::LogCholeskyParametersPythonVisitor< LogCholeskyParameters > , pinocchio::python::MotionPythonVisitor< Motion > , pinocchio::python::PseudoInertiaPythonVisitor< PseudoInertia > , pinocchio::python::SE3PythonVisitor< SE3 > , pinocchio::python::Symmetric3PythonVisitor< Symmetric3 > , pinocchio::python::XYZQUATConverter , pinocchio::Symmetric3Tpl< _Scalar, _Options > , pinocchio::Tensor< Scalar_, NumIndices_, Options_, IndexType > , pinocchio::traits< CartesianProductOperation< LieGroup1, LieGroup2 > > , pinocchio::traits< CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > > , pinocchio::traits< ConstraintDataTpl< _Scalar, _Options, ConstraintCollectionTpl > > , pinocchio::traits< ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl > > , pinocchio::traits< DelassusOperatorDenseTpl< _Scalar, _Options > > , pinocchio::traits< DelassusOperatorSparseTpl< _Scalar, _Options, _SparseCholeskyDecomposition > > , pinocchio::traits< ForceRef< const Vector6ArgType > > , pinocchio::traits< ForceRef< Vector6ArgType > > , pinocchio::traits< ForceTpl< _Scalar, _Options > > , pinocchio::traits< FrameTpl< _Scalar, _Options > > , pinocchio::traits< GeometryData > , pinocchio::traits< GeometryModel > , pinocchio::traits< GeometryObject > , pinocchio::traits< JointCompositeTpl< _Scalar, _Options, JointCollectionTpl > > , pinocchio::traits< JointFreeFlyerTpl< _Scalar, _Options > > , pinocchio::traits< JointHelicalTpl< _Scalar, _Options, axis > > , pinocchio::traits< JointHelicalUnalignedTpl< _Scalar, _Options > > , pinocchio::traits< JointMimicTpl< _Scalar, _Options, JointCollectionTpl > > , pinocchio::traits< JointMotionSubspaceHelicalTpl< _Scalar, _Options, axis > > , pinocchio::traits< JointMotionSubspaceHelicalUnalignedTpl< _Scalar, _Options > > , pinocchio::traits< JointMotionSubspaceIdentityTpl< _Scalar, _Options > > , pinocchio::traits< JointMotionSubspacePlanarTpl< _Scalar, _Options > > , pinocchio::traits< JointMotionSubspacePrismaticTpl< _Scalar, _Options, axis > > , pinocchio::traits< JointMotionSubspacePrismaticUnalignedTpl< _Scalar, _Options > > , pinocchio::traits< JointMotionSubspaceRevoluteTpl< _Scalar, _Options, axis > > , pinocchio::traits< JointMotionSubspaceRevoluteUnalignedTpl< _Scalar, _Options > > , pinocchio::traits< JointMotionSubspaceSphericalTpl< _Scalar, _Options > > , pinocchio::traits< JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > > , pinocchio::traits< JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim > > , pinocchio::traits< JointMotionSubspaceTranslationTpl< _Scalar, _Options > > , pinocchio::traits< JointMotionSubspaceUniversalTpl< _Scalar, _Options > > , pinocchio::traits< JointPlanarTpl< _Scalar, _Options > > , pinocchio::traits< JointPrismaticTpl< _Scalar, _Options, axis > > , pinocchio::traits< JointPrismaticUnalignedTpl< _Scalar, _Options > > , pinocchio::traits< JointRevoluteTpl< _Scalar, _Options, axis > > , pinocchio::traits< JointRevoluteUnalignedTpl< _Scalar, _Options > > , pinocchio::traits< JointRevoluteUnboundedTpl< _Scalar, _Options, axis > > , pinocchio::traits< JointRevoluteUnboundedUnalignedTpl< _Scalar, _Options > > , pinocchio::traits< JointSphericalTpl< _Scalar, _Options > > , pinocchio::traits< JointSphericalZYXTpl< _Scalar, _Options > > , pinocchio::traits< JointTest< _Scalar, _Options, JointCollectionTpl > > , pinocchio::traits< JointTpl< _Scalar, _Options, JointCollectionTpl > > , pinocchio::traits< JointTranslationTpl< _Scalar, _Options > > , pinocchio::traits< JointUniversalTpl< _Scalar, _Options > > , pinocchio::traits< LieGroupGenericTpl< LieGroupCollection > > , pinocchio::traits< MotionHelicalTpl< _Scalar, _Options, axis > > , pinocchio::traits< MotionHelicalUnalignedTpl< _Scalar, _Options > > , pinocchio::traits< MotionPlanarTpl< _Scalar, _Options > > , pinocchio::traits< MotionPrismaticTpl< _Scalar, _Options, _axis > > , pinocchio::traits< MotionPrismaticUnalignedTpl< _Scalar, _Options > > , pinocchio::traits< MotionRef< const Vector6ArgType > > , pinocchio::traits< MotionRef< Vector6ArgType > > , pinocchio::traits< MotionRevoluteTpl< _Scalar, _Options, axis > > , pinocchio::traits< MotionRevoluteUnalignedTpl< _Scalar, _Options > > , pinocchio::traits< MotionSphericalTpl< _Scalar, _Options > > , pinocchio::traits< MotionTpl< _Scalar, _Options > > , pinocchio::traits< MotionTranslationTpl< _Scalar, _Options > > , pinocchio::traits< MotionZeroTpl< _Scalar, _Options > > , pinocchio::traits< RigidConstraintDataTpl< _Scalar, _Options > > , pinocchio::traits< RigidConstraintModelTpl< _Scalar, _Options > > , pinocchio::traits< ScaledJointMotionSubspaceTpl< _Scalar, _Options, _MaxDim > > , pinocchio::traits< SE3Tpl< _Scalar, _Options > > , pinocchio::traits< SpecialEuclideanOperationTpl< 2, _Scalar, _Options > > , pinocchio::traits< SpecialEuclideanOperationTpl< 3, _Scalar, _Options > > , pinocchio::traits< SpecialOrthogonalOperationTpl< 2, _Scalar, _Options > > , pinocchio::traits< SpecialOrthogonalOperationTpl< 3, _Scalar, _Options > > , pinocchio::traits< TransformHelicalTpl< _Scalar, _Options, _axis > > , pinocchio::traits< TransformPrismaticTpl< _Scalar, _Options, _axis > > , pinocchio::traits< TransformRevoluteTpl< _Scalar, _Options, _axis > > , pinocchio::traits< TransformTranslationTpl< _Scalar, _Options > > , pinocchio::traits< TridiagonalSymmetricMatrixTpl< _Scalar, _Options > > , pinocchio::traits< VectorSpaceOperationTpl< Dim, _Scalar, _Options > > , pinocchio::TridiagonalSymmetricMatrixInverse< _TridiagonalSymmetricMatrix > , pinocchio::TridiagonalSymmetricMatrixTpl< _Scalar, _Options >
• osim : pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >
• osim_llt : pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >
• outerObjects : pinocchio::GeometryData
• overrideMaterial : pinocchio::GeometryObject
• oYaba_contact : pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >