Add proxy to friction binding

Author: edantec

bindings/expose-friction-compensation.cpp

@@ -17,20 +17,19 @@ namespace simple_mpc
   {
     namespace bp = boost::python;
 
-    /* Eigen::VectorXd computeFrictionProxy(
-      FrictionCompensation & self,
-      Eigen::Ref<const VectorXd> velocity,
-      Eigen::Ref<VectorXd> torque) {
-        self.computeFriction(velocity, torque);
+    Eigen::VectorXd
+    computeFrictionProxy(FrictionCompensation & self, Eigen::Ref<const VectorXd> velocity, Eigen::Ref<VectorXd> torque)
+    {
+      self.computeFriction(velocity, torque);
 
-        return torque;
-    } */
+      return torque;
+    }
 
     void exposeFrictionCompensation()
     {
       bp::class_<FrictionCompensation>(
         "FrictionCompensation", bp::init<const Model &, const bool>(bp::args("self", "model", "with_free_flyer")))
-        .def("computeFriction", &FrictionCompensation::computeFriction)
+        .def("computeFriction", &computeFrictionProxy)
         .add_property("dry_friction", &FrictionCompensation::dry_friction_)
         .add_property("viscuous_friction", &FrictionCompensation::viscuous_friction_);
     }

examples/go2_fulldynamics.py

@@ -276,10 +276,13 @@
         )
 
         qp_torque = qp.solved_torque.copy()
-        fcompensation.computeFriction(x_interp[nq + 6:], qp_torque)
-        device.execute(qp_torque)
+        exit()
+        friction_torque = fcompensation.computeFriction(x_interp[nq + 6:], qp_torque)
+        device.execute(friction_torque)
 
-        u_multibody.append(copy.deepcopy(qp_torque))
+
+
+        u_multibody.append(copy.deepcopy(friction_torque))
         x_multibody.append(x_measured)
 
 force_FL = np.array(force_FL)