test_RobotWrapper.py File Reference

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Namespaces
	test_RobotWrapper

Variables
	test_RobotWrapper.base_mass_matrix = robot.mass(data)
	test_RobotWrapper.data = robot.data()
int	test_RobotWrapper.expected_inertia = rotor_inertia * gear_ratio**2
	test_RobotWrapper.filename = str(Path(__file__).resolve().parent)
	test_RobotWrapper.gear_ratio = rng.uniform(0, 1, size=(robot.nq - 7))
	test_RobotWrapper.lb = model.lowerPositionLimit
	test_RobotWrapper.mass_matrix_with_motor_inertia = robot.mass(data)
	test_RobotWrapper.model = robot.model()
string	test_RobotWrapper.path = filename + "/../../models/romeo"
	test_RobotWrapper.q = se3.randomConfiguration(robot.model(), lb, ub)
	test_RobotWrapper.rng = np.random.default_rng()
	test_RobotWrapper.robot = tsid.RobotWrapper(urdf, vector, se3.JointModelFreeFlyer(), False)
	test_RobotWrapper.rotor_inertia = rng.uniform(0, 1, size=(robot.nq - 7))
	test_RobotWrapper.ub = model.upperPositionLimit
string	test_RobotWrapper.urdf = path + "/urdf/romeo.urdf"
	test_RobotWrapper.v = np.ones(robot.nv)
	test_RobotWrapper.vector = se3.StdVec_StdString()