Variables | |
| a = pin.aba(model,data_sim,q,v,tau_control) | |
| action | |
| args = parser.parse_args() | |
| float | base_radius = 0.2 |
| body_inertia = pin.Inertia.FromCylinder(cart_mass,cart_radius,cart_length) | |
| int | body_mass = 1 |
| body_placement = geometry_placement | |
| float | body_radius = 0.1 |
| int | cart_length = 5 |
| int | cart_mass = 2 |
| float | cart_radius = 0.1 |
| float | damping_value = 0.1 |
| data_sim = model.createData() | |
| float | dt = 0.01 |
| dt_sleep = max(0,dt - (ellapsed)) | |
| ellapsed = toc-tic | |
| string | geom1_name = "ball_" |
| geom1_obj = pin.GeometryObject(geom1_name, joint_id, shape1, body_placement) | |
| string | geom2_name = "bar_" |
| geom2_obj = pin.GeometryObject(geom2_name, joint_id, shape2, shape2_placement) | |
| geom_base = pin.GeometryObject("base", 0, shape_base, pin.SE3.Identity()) | |
| geom_cart = pin.GeometryObject("shape_cart", joint_id, shape_cart, geometry_placement) | |
| geom_model = pin.GeometryModel() | |
| geometry_placement = pin.SE3.Identity() | |
| help | |
| joint_id = model.addJoint(parent_id, pin.JointModelPY(), pin.SE3.Identity(), joint_name) | |
| string | joint_name = "joint_cart" |
| joint_placement = pin.SE3.Identity() | |
| meshColor | |
| model = pin.Model() | |
| N = args.N | |
| int | parent_id = 0 |
| parser = argparse.ArgumentParser() | |
| q = pin.randomConfiguration(model) | |
| q0 = pin.neutral(model) | |
| rotation | |
| shape1 = fcl.Sphere(body_radius) | |
| shape2 = fcl.Cylinder(body_radius/4.,body_placement.translation[2]) | |
| shape2_placement = body_placement.copy() | |
| shape_base = fcl.Sphere(base_radius) | |
| shape_cart = fcl.Cylinder(cart_radius, cart_length) | |
| int | T = 5 |
| int | t = 0 |
| tau_control = np.zeros((model.nv)) | |
| tic = time.time() | |
| toc = time.time() | |
| type | |
| v = np.zeros((model.nv)) | |
| visual_model = geom_model | |
| viz = Visualizer(model, geom_model, visual_model) | |
| simulation-pendulum.a = pin.aba(model,data_sim,q,v,tau_control) |
Definition at line 134 of file simulation-pendulum.py.
| simulation-pendulum.action |
Definition at line 12 of file simulation-pendulum.py.
| simulation-pendulum.args = parser.parse_args() |
Definition at line 15 of file simulation-pendulum.py.
| float simulation-pendulum.base_radius = 0.2 |
Definition at line 50 of file simulation-pendulum.py.
| simulation-pendulum.body_inertia = pin.Inertia.FromCylinder(cart_mass,cart_radius,cart_length) |
Definition at line 38 of file simulation-pendulum.py.
| int simulation-pendulum.body_mass = 1 |
Definition at line 57 of file simulation-pendulum.py.
| simulation-pendulum.body_placement = geometry_placement |
Definition at line 39 of file simulation-pendulum.py.
| float simulation-pendulum.body_radius = 0.1 |
Definition at line 58 of file simulation-pendulum.py.
| int simulation-pendulum.cart_length = 5 |
Definition at line 29 of file simulation-pendulum.py.
| int simulation-pendulum.cart_mass = 2 |
Definition at line 30 of file simulation-pendulum.py.
| float simulation-pendulum.cart_radius = 0.1 |
Definition at line 28 of file simulation-pendulum.py.
| float simulation-pendulum.damping_value = 0.1 |
Definition at line 129 of file simulation-pendulum.py.
| simulation-pendulum.data_sim = model.createData() |
Definition at line 123 of file simulation-pendulum.py.
| float simulation-pendulum.dt = 0.01 |
Definition at line 112 of file simulation-pendulum.py.
Definition at line 144 of file simulation-pendulum.py.
Definition at line 142 of file simulation-pendulum.py.
| string simulation-pendulum.geom1_name = "ball_" |
Definition at line 69 of file simulation-pendulum.py.
| simulation-pendulum.geom1_obj = pin.GeometryObject(geom1_name, joint_id, shape1, body_placement) |
Definition at line 71 of file simulation-pendulum.py.
| string simulation-pendulum.geom2_name = "bar_" |
Definition at line 75 of file simulation-pendulum.py.
| simulation-pendulum.geom2_obj = pin.GeometryObject(geom2_name, joint_id, shape2, shape2_placement) |
Definition at line 80 of file simulation-pendulum.py.
| simulation-pendulum.geom_base = pin.GeometryObject("base", 0, shape_base, pin.SE3.Identity()) |
Definition at line 52 of file simulation-pendulum.py.
| simulation-pendulum.geom_cart = pin.GeometryObject("shape_cart", joint_id, shape_cart, geometry_placement) |
Definition at line 44 of file simulation-pendulum.py.
| simulation-pendulum.geom_model = pin.GeometryModel() |
Definition at line 23 of file simulation-pendulum.py.
| simulation-pendulum.geometry_placement = pin.SE3.Identity() |
Definition at line 33 of file simulation-pendulum.py.
| simulation-pendulum.help |
Definition at line 11 of file simulation-pendulum.py.
| simulation-pendulum.joint_id = model.addJoint(parent_id, pin.JointModelPY(), pin.SE3.Identity(), joint_name) |
Definition at line 36 of file simulation-pendulum.py.
| string simulation-pendulum.joint_name = "joint_cart" |
Definition at line 31 of file simulation-pendulum.py.
| simulation-pendulum.joint_placement = pin.SE3.Identity() |
Definition at line 56 of file simulation-pendulum.py.
| simulation-pendulum.meshColor |
Definition at line 45 of file simulation-pendulum.py.
| simulation-pendulum.model = pin.Model() |
Definition at line 22 of file simulation-pendulum.py.
| int simulation-pendulum.N = args.N |
Definition at line 18 of file simulation-pendulum.py.
| simulation-pendulum.parent_id = 0 |
Definition at line 25 of file simulation-pendulum.py.
| simulation-pendulum.parser = argparse.ArgumentParser() |
Definition at line 10 of file simulation-pendulum.py.
| simulation-pendulum.q = pin.randomConfiguration(model) |
Definition at line 126 of file simulation-pendulum.py.
| simulation-pendulum.q0 = pin.neutral(model) |
Definition at line 108 of file simulation-pendulum.py.
| simulation-pendulum.rotation |
Definition at line 34 of file simulation-pendulum.py.
| simulation-pendulum.shape1 = fcl.Sphere(body_radius) |
Definition at line 70 of file simulation-pendulum.py.
| simulation-pendulum.shape2 = fcl.Cylinder(body_radius/4.,body_placement.translation[2]) |
Definition at line 76 of file simulation-pendulum.py.
| simulation-pendulum.shape2_placement = body_placement.copy() |
Definition at line 77 of file simulation-pendulum.py.
| simulation-pendulum.shape_base = fcl.Sphere(base_radius) |
Definition at line 51 of file simulation-pendulum.py.
| simulation-pendulum.shape_cart = fcl.Cylinder(cart_radius, cart_length) |
Definition at line 42 of file simulation-pendulum.py.
| int simulation-pendulum.T = 5 |
Definition at line 113 of file simulation-pendulum.py.
| int simulation-pendulum.t = 0 |
Definition at line 125 of file simulation-pendulum.py.
| simulation-pendulum.tau_control = np.zeros((model.nv)) |
Definition at line 128 of file simulation-pendulum.py.
| simulation-pendulum.tic = time.time() |
Definition at line 132 of file simulation-pendulum.py.
| simulation-pendulum.toc = time.time() |
Definition at line 141 of file simulation-pendulum.py.
| simulation-pendulum.type |
Definition at line 14 of file simulation-pendulum.py.
| simulation-pendulum.v = np.zeros((model.nv)) |
Definition at line 127 of file simulation-pendulum.py.
| simulation-pendulum.visual_model = geom_model |
Definition at line 89 of file simulation-pendulum.py.
| simulation-pendulum.viz = Visualizer(model, geom_model, visual_model) |
Definition at line 90 of file simulation-pendulum.py.