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loco-3d / crocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
BSD 3-Clause "New" or "Revised" License
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About restitution coefficient for impulse dynamics #900

Closed ddliu365 closed 3 years ago

ddliu365 commented 3 years ago

I checked the paper for the impulse dynamics and didn't find a restitution coefficient in the function crocoddyl.ImpulseModel3D.

supportContactModel = crocoddyl.ImpulseModel3D(self.state, i) impulseModel.addImpulse(self.rmodel.frames[i].name + "_impulse", supportContactModel) image Where can I change this coefficient for a specific material?

cmastalli commented 3 years ago

The restitution coefficient is defined at the action model. Unfortunately, we can only defined a single coefficient value for all the contacts.

ddliu365 commented 3 years ago

I see, thanks.