Python StateMultibodyDerived Examples

Example #1

class StateMultibodyHumanoidTest(StateAbstractTestCase):
    MODEL = pinocchio.buildSampleModelHumanoidRandom()
    NX = MODEL.nq + MODEL.nv
    NDX = 2 * MODEL.nv
    STATE = crocoddyl.StateMultibody(MODEL)
    STATE_DER = StateMultibodyDerived(MODEL)

Example #2

File: test_states.py Project: zzhou387/crocoddyl

class StateMultibodyTalosTest(StateAbstractTestCase):
    MODEL = example_robot_data.loadTalos().model
    NX = MODEL.nq + MODEL.nv
    NDX = 2 * MODEL.nv
    STATE = crocoddyl.StateMultibody(MODEL)
    STATE_DER = StateMultibodyDerived(MODEL)

Example #3

class StateMultibodyManipulatorTest(StateAbstractTestCase):
    MODEL = pinocchio.buildSampleModelManipulator()
    NX = MODEL.nq + MODEL.nv
    NDX = 2 * MODEL.nv
    STATE = crocoddyl.StateMultibody(MODEL)
    STATE_DER = StateMultibodyDerived(MODEL)