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Surface contacts

Open mayataka opened this issue 4 years ago • 0 comments

Surface contacts are necessary to model contacts in humanoid robots. The following classes should be implemented:

  • [x] SurfaceContact (similar to PointContact)
  • [x] FrictionWrenchCone (similar to FrictionCone)
  • [x] ImpulseFrictionWrenchCone (similar to ImpulseFrictionCone)
  • [ ] ContactWrenchCost (similar to ContactForceCost)

mayataka avatar Jun 01 '21 12:06 mayataka