|
| | simulation-inverted-pendulum.a = pin.aba(model, data_sim, q, v, tau_control) |
| |
| | simulation-inverted-pendulum.body_inertia = pin.Inertia.FromSphere(body_mass, body_radius) |
| |
| float | simulation-inverted-pendulum.body_mass = 1.0 |
| |
| | simulation-inverted-pendulum.body_placement = joint_placement.copy() |
| |
| float | simulation-inverted-pendulum.body_radius = 0.1 |
| |
| | simulation-inverted-pendulum.data_sim = model.createData() |
| |
| float | simulation-inverted-pendulum.dt = 0.01 |
| |
| | simulation-inverted-pendulum.geom0_obj = pin.GeometryObject("base", 0, pin.SE3.Identity(), shape0) |
| |
| string | simulation-inverted-pendulum.geom1_name = "ball_" + str(k + 1) |
| |
| | simulation-inverted-pendulum.geom1_obj = pin.GeometryObject(geom1_name, joint_id, body_placement, shape1) |
| |
| string | simulation-inverted-pendulum.geom2_name = "bar_" + str(k + 1) |
| |
| | simulation-inverted-pendulum.geom2_obj = pin.GeometryObject(geom2_name, joint_id, shape2_placement, shape2) |
| |
| | simulation-inverted-pendulum.geom_model = pin.GeometryModel() |
| |
| | simulation-inverted-pendulum.joint_id |
| |
| string | simulation-inverted-pendulum.joint_name = "joint_" + str(k + 1) |
| |
| | simulation-inverted-pendulum.joint_placement = pin.SE3.Identity() |
| |
| | simulation-inverted-pendulum.meshColor |
| |
| | simulation-inverted-pendulum.model = pin.Model() |
| |
| int | simulation-inverted-pendulum.N = 10 |
| |
| int | simulation-inverted-pendulum.parent_id = 0 |
| |
| | simulation-inverted-pendulum.q = pin.randomConfiguration(model) |
| |
| | simulation-inverted-pendulum.q0 = pin.neutral(model) |
| |
| | simulation-inverted-pendulum.shape0 = fcl.Sphere(body_radius) |
| |
| | simulation-inverted-pendulum.shape1 = fcl.Sphere(body_radius) |
| |
| | simulation-inverted-pendulum.shape2 = fcl.Cylinder(body_radius / 4.0, body_placement.translation[2]) |
| |
| | simulation-inverted-pendulum.shape2_placement = body_placement.copy() |
| |
| int | simulation-inverted-pendulum.T = 5 |
| |
| float | simulation-inverted-pendulum.t = 0.0 |
| |
| | simulation-inverted-pendulum.tau_control = np.zeros((model.nv)) |
| |
| | simulation-inverted-pendulum.v = np.zeros((model.nv)) |
| |
| | simulation-inverted-pendulum.visual_model = geom_model |
| |
| | simulation-inverted-pendulum.viz = GepettoVisualizer(model, geom_model, visual_model) |
| |