Go to the source code of this file.
Namespaces | |
| test_Contact | |
Variables | |
| test_Contact.contact | |
| test_Contact.contact_Point = np.matrix(np.ones((3, 4)) * lz) | |
| test_Contact.contactNormal = np.matrix(np.zeros(3)).transpose() | |
| test_Contact.data = robot.data() | |
| test_Contact.f = np.matrix(np.zeros(12)).transpose() | |
| test_Contact.f3 = np.matrix(np.zeros(3)).transpose() | |
| test_Contact.filename = str(Path(__file__).resolve().parent) | |
| float | test_Contact.fMax = 1000.0 |
| float | test_Contact.fMin = 10.0 |
| test_Contact.forceGenMat = contact.getForceGeneratorMatrix | |
| test_Contact.forceIneq = contact.computeForceTask(t, q, v, data) | |
| string | test_Contact.frameName = "RAnkleRoll" |
| test_Contact.H_ref = robot.position(data, robot.model().getJointId(frameName)) | |
| int | test_Contact.Kd = 2 * Kp |
| test_Contact.Kp = np.matrix(np.ones(6)).transpose() | |
| float | test_Contact.lx = 0.07 |
| float | test_Contact.ly = 0.12 |
| float | test_Contact.lz = 0.105 |
| test_Contact.model = robot.model() | |
| float | test_Contact.mu = 0.3 |
| string | test_Contact.path = filename + "/../models/romeo" |
| test_Contact.q = model.neutralConfiguration | |
| test_Contact.robot = tsid.RobotWrapper(urdf, vector, se3.JointModelFreeFlyer(), False) | |
| float | test_Contact.t = 0.0 |
| int | test_Contact.tol = 1e-5 |
| string | test_Contact.urdf = path + "/urdf/romeo.urdf" |
| test_Contact.v = np.matrix(np.zeros(robot.nv)).transpose() | |
| test_Contact.vector = se3.StdVec_StdString() | |