External wrench contact#
To be used with: no task required
An external wrench contact can be used to apply an external force and/or moments to a given frame.
# Adding an external wrench, which will be expressed in the world
# and applied on the right foot
external_wrench = solver.add_external_wrench_contact("right_foot", "world")
# Setting the wrench (force, moments)
external_wrench.w_ext = np.array([10, 0, 0, 0, 0, 0])
Humanoid with external force applied
In this example, the humanoid robot has a fixed based and zero torque in the motors. An external wrench is applied on its right foot.