momentumopt.quadruped.simulator.Simulator Class Reference

Inheritance diagram for momentumopt.quadruped.simulator.Simulator:

Collaboration diagram for momentumopt.quadruped.simulator.Simulator:

Public Member Functions
def	__init__ (self, robot_id, pinocchio_robot, joint_names, endeff_names)
def	get_force (self)
	Returns the force readings as well as the set of active contacts.
def	get_state (self)
def	reset_state (self, q, dq)
def	send_joint_command (self, tau)
def	step (self)

Public Attributes
	pinocchio_robot
	nq
	nv
	nj
	nf
	robot_id
	joint_names
	endeff_names
	bullet_joint_ids
	pinocchio_joint_ids
	pin2bullet_joint_only_array
	bullet_endeff_ids
	pinocchio_endeff_ids

Private Member Functions
def	_action (self, pos, rot)

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The documentation for this class was generated from the following file:

• python/momentumopt/quadruped/simulator.py