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Surface contacts #52

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3 of 4 tasks
mayataka opened this issue Jun 1, 2021 · 0 comments
Open
3 of 4 tasks

Surface contacts #52

mayataka opened this issue Jun 1, 2021 · 0 comments
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enhancement New feature or request

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@mayataka
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mayataka commented Jun 1, 2021 •
edited

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

  • SurfaceContact (similar to PointContact)
  • FrictionWrenchCone (similar to FrictionCone)
  • ImpulseFrictionWrenchCone (similar to ImpulseFrictionCone)
  • ContactWrenchCost (similar to ContactForceCost)
@mayataka mayataka added the enhancement New feature or request label Jun 1, 2021
@mayataka mayataka mentioned this issue Dec 16, 2021
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@mayataka