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v1.1.5; Add friction margin

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wty-yy
2026-03-23 21:13:41 +08:00
parent fe35afea22
commit f713f70561
13 changed files with 172 additions and 9 deletions
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3
robogauge/tasks/simulator/sim_data.py
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@@ -45,6 +45,9 @@ class RigidBodyDynamics:
class GroundContactState:
positions: np.ndarray # [m] world frame, shape (n_contact, 3)
distances: np.ndarray # [m] shape (n_contact,)
normal_forces: np.ndarray # [N] contact-frame normal force magnitude, shape (n_contact,)
tangent_forces: np.ndarray # [N] contact-frame tangential force magnitude, shape (n_contact,)
friction_coefficients: np.ndarray # [-] translational friction coefficient, shape (n_contact,)
robot_geom_names: list # list of robot geom names
other_geom_names: list # list of non-robot geom names
robot_body_names: list # list of robot body names