Variables
	a = pin.aba(model, data_sim, q, v, tau_control)

	body_inertia = pin.Inertia.FromSphere(body_mass, body_radius)

float	body_mass = 1.0

	body_placement = joint_placement.copy()

float	body_radius = 0.1

	data_sim = model.createData()

float	dt = 0.01

	geom0_obj = pin.GeometryObject("base", 0, pin.SE3.Identity(), shape0)

string	geom1_name = "ball_" + str(k + 1)

	geom1_obj = pin.GeometryObject(geom1_name, joint_id, body_placement, shape1)

string	geom2_name = "bar_" + str(k + 1)

	geom2_obj = pin.GeometryObject(geom2_name, joint_id, shape2_placement, shape2)

	geom_model = pin.GeometryModel()

	joint_id

string	joint_name = "joint_" + str(k + 1)

	joint_placement = pin.SE3.Identity()

	meshColor

	model = pin.Model()

int	N = 10

int	parent_id = 0

	q = pin.randomConfiguration(model)

	q0 = pin.neutral(model)

	shape0 = fcl.Sphere(body_radius)

	shape1 = fcl.Sphere(body_radius)

	shape2 = fcl.Cylinder(body_radius / 4.0, body_placement.translation[2])

	shape2_placement = body_placement.copy()

int	T = 5

float	t = 0.0

	tau_control = np.zeros((model.nv))

	v = np.zeros((model.nv))

	visual_model = geom_model

	viz = GepettoVisualizer(model, geom_model, visual_model)

Variable Documentation

◆ a

simulation-inverted-pendulum.a = pin.aba(model, data_sim, q, v, tau_control)

Definition at line 94 of file simulation-inverted-pendulum.py.

◆ body_inertia

simulation-inverted-pendulum.body_inertia = pin.Inertia.FromSphere(body_mass, body_radius)

Definition at line 28 of file simulation-inverted-pendulum.py.

◆ body_mass

float simulation-inverted-pendulum.body_mass = 1.0

Definition at line 14 of file simulation-inverted-pendulum.py.

◆ body_placement

simulation-inverted-pendulum.body_placement = joint_placement.copy()

Definition at line 29 of file simulation-inverted-pendulum.py.

◆ body_radius

float simulation-inverted-pendulum.body_radius = 0.1

Definition at line 15 of file simulation-inverted-pendulum.py.

◆ data_sim

simulation-inverted-pendulum.data_sim = model.createData()

Definition at line 91 of file simulation-inverted-pendulum.py.

◆ dt

float simulation-inverted-pendulum.dt = 0.01

Definition at line 80 of file simulation-inverted-pendulum.py.

◆ geom0_obj

simulation-inverted-pendulum.geom0_obj = pin.GeometryObject("base", 0, pin.SE3.Identity(), shape0)

Definition at line 18 of file simulation-inverted-pendulum.py.

◆ geom1_name

string simulation-inverted-pendulum.geom1_name = "ball_" + str(k + 1)

Definition at line 33 of file simulation-inverted-pendulum.py.

◆ geom1_obj

simulation-inverted-pendulum.geom1_obj = pin.GeometryObject(geom1_name, joint_id, body_placement, shape1)

Definition at line 35 of file simulation-inverted-pendulum.py.

◆ geom2_name

string simulation-inverted-pendulum.geom2_name = "bar_" + str(k + 1)

Definition at line 39 of file simulation-inverted-pendulum.py.

◆ geom2_obj

simulation-inverted-pendulum.geom2_obj = pin.GeometryObject(geom2_name, joint_id, shape2_placement, shape2)

Definition at line 44 of file simulation-inverted-pendulum.py.

◆ geom_model

simulation-inverted-pendulum.geom_model = pin.GeometryModel()

Definition at line 10 of file simulation-inverted-pendulum.py.

◆ joint_id

simulation-inverted-pendulum.joint_id

Initial value:

 =  model.addJoint(
         parent_id, pin.JointModelRY(), joint_placement, joint_name
     )

Definition at line 24 of file simulation-inverted-pendulum.py.

◆ joint_name

string simulation-inverted-pendulum.joint_name = "joint_" + str(k + 1)

Definition at line 23 of file simulation-inverted-pendulum.py.

◆ joint_placement

simulation-inverted-pendulum.joint_placement = pin.SE3.Identity()

Definition at line 13 of file simulation-inverted-pendulum.py.

◆ meshColor

simulation-inverted-pendulum.meshColor

Definition at line 19 of file simulation-inverted-pendulum.py.

◆ model

simulation-inverted-pendulum.model = pin.Model()

Definition at line 9 of file simulation-inverted-pendulum.py.

◆ N

simulation-inverted-pendulum.N = 10

Definition at line 8 of file simulation-inverted-pendulum.py.

◆ parent_id

simulation-inverted-pendulum.parent_id = 0

Definition at line 12 of file simulation-inverted-pendulum.py.

◆ q

simulation-inverted-pendulum.q = pin.randomConfiguration(model)

Definition at line 87 of file simulation-inverted-pendulum.py.

◆ q0

simulation-inverted-pendulum.q0 = pin.neutral(model)

Definition at line 76 of file simulation-inverted-pendulum.py.

◆ shape0

simulation-inverted-pendulum.shape0 = fcl.Sphere(body_radius)

Definition at line 17 of file simulation-inverted-pendulum.py.

◆ shape1

simulation-inverted-pendulum.shape1 = fcl.Sphere(body_radius)

Definition at line 34 of file simulation-inverted-pendulum.py.

◆ shape2

simulation-inverted-pendulum.shape2 = fcl.Cylinder(body_radius / 4.0, body_placement.translation[2])

Definition at line 40 of file simulation-inverted-pendulum.py.

◆ shape2_placement

simulation-inverted-pendulum.shape2_placement = body_placement.copy()

Definition at line 41 of file simulation-inverted-pendulum.py.

◆ T

int simulation-inverted-pendulum.T = 5

Definition at line 81 of file simulation-inverted-pendulum.py.

◆ t

float simulation-inverted-pendulum.t = 0.0

Definition at line 90 of file simulation-inverted-pendulum.py.

◆ tau_control

simulation-inverted-pendulum.tau_control = np.zeros((model.nv))

Definition at line 93 of file simulation-inverted-pendulum.py.

◆ v

simulation-inverted-pendulum.v = np.zeros((model.nv))

Definition at line 88 of file simulation-inverted-pendulum.py.

◆ visual_model

simulation-inverted-pendulum.visual_model = geom_model

Definition at line 53 of file simulation-inverted-pendulum.py.

◆ viz

simulation-inverted-pendulum.viz = GepettoVisualizer(model, geom_model, visual_model)

Definition at line 54 of file simulation-inverted-pendulum.py.

Variables