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 * cart_radius

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_" + str(k+1)

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

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

	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)

Variable Documentation

◆ a

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

Definition at line 134 of file simulation-pendulum.py.

◆ action

simulation-pendulum.action

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

◆ args

simulation-pendulum.args = parser.parse_args()

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

◆ base_radius

float simulation-pendulum.base_radius = 0.2

Definition at line 50 of file simulation-pendulum.py.

◆ body_inertia

simulation-pendulum.body_inertia = pin.Inertia.FromCylinder(cart_mass,cart_radius,cart_length)

Definition at line 38 of file simulation-pendulum.py.

◆ body_mass

int simulation-pendulum.body_mass = 1.

Definition at line 57 of file simulation-pendulum.py.

◆ body_placement

simulation-pendulum.body_placement = geometry_placement

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

◆ body_radius

float simulation-pendulum.body_radius = 0.1

Definition at line 58 of file simulation-pendulum.py.

◆ cart_length

int simulation-pendulum.cart_length = 5 * cart_radius

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

◆ cart_mass

int simulation-pendulum.cart_mass = 2.

Definition at line 30 of file simulation-pendulum.py.

◆ cart_radius

float simulation-pendulum.cart_radius = 0.1

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

◆ damping_value

float simulation-pendulum.damping_value = 0.1

Definition at line 129 of file simulation-pendulum.py.

◆ data_sim

simulation-pendulum.data_sim = model.createData()

Definition at line 123 of file simulation-pendulum.py.

◆ dt

float simulation-pendulum.dt = 0.01

Definition at line 112 of file simulation-pendulum.py.

◆ dt_sleep

simulation-pendulum.dt_sleep = max(0,dt - (ellapsed))

Definition at line 144 of file simulation-pendulum.py.

◆ ellapsed

simulation-pendulum.ellapsed = toc - tic

Definition at line 142 of file simulation-pendulum.py.

◆ geom1_name

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

Definition at line 69 of file simulation-pendulum.py.

◆ geom1_obj

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

Definition at line 71 of file simulation-pendulum.py.

◆ geom2_name

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

Definition at line 75 of file simulation-pendulum.py.

◆ geom2_obj

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

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

◆ geom_base

simulation-pendulum.geom_base = pin.GeometryObject("base", 0, shape_base, pin.SE3.Identity())

Definition at line 52 of file simulation-pendulum.py.

◆ geom_cart

simulation-pendulum.geom_cart = pin.GeometryObject("shape_cart", joint_id, shape_cart, geometry_placement)

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

◆ geom_model

simulation-pendulum.geom_model = pin.GeometryModel()

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

◆ geometry_placement

simulation-pendulum.geometry_placement = pin.SE3.Identity()

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

◆ help

simulation-pendulum.help

Definition at line 11 of file simulation-pendulum.py.

◆ joint_id

simulation-pendulum.joint_id = model.addJoint(parent_id, pin.JointModelPY(), pin.SE3.Identity(), joint_name)

Definition at line 36 of file simulation-pendulum.py.

◆ joint_name

string simulation-pendulum.joint_name = "joint_cart"

Definition at line 31 of file simulation-pendulum.py.

◆ joint_placement

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

Definition at line 56 of file simulation-pendulum.py.

◆ meshColor

simulation-pendulum.meshColor

Definition at line 45 of file simulation-pendulum.py.

◆ model

simulation-pendulum.model = pin.Model()

Definition at line 22 of file simulation-pendulum.py.

◆ N

int simulation-pendulum.N = args.N

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

◆ parent_id

simulation-pendulum.parent_id = 0

Definition at line 25 of file simulation-pendulum.py.

◆ parser

simulation-pendulum.parser = argparse.ArgumentParser()

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

◆ q

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

Definition at line 126 of file simulation-pendulum.py.

◆ q0

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

Definition at line 108 of file simulation-pendulum.py.

◆ rotation

simulation-pendulum.rotation

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

◆ shape1

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

Definition at line 70 of file simulation-pendulum.py.

◆ shape2

simulation-pendulum.shape2 = fcl.Cylinder(body_radius/4.,body_placement.translation[2])

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

◆ shape2_placement

simulation-pendulum.shape2_placement = body_placement.copy()

Definition at line 77 of file simulation-pendulum.py.

◆ shape_base

simulation-pendulum.shape_base = fcl.Sphere(base_radius)

Definition at line 51 of file simulation-pendulum.py.

◆ shape_cart

simulation-pendulum.shape_cart = fcl.Cylinder(cart_radius, cart_length)

Definition at line 42 of file simulation-pendulum.py.

◆ T

int simulation-pendulum.T = 5

Definition at line 113 of file simulation-pendulum.py.

◆ t

int simulation-pendulum.t = 0.

Definition at line 125 of file simulation-pendulum.py.

◆ tau_control

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

Definition at line 128 of file simulation-pendulum.py.

◆ tic

simulation-pendulum.tic = time.time()

Definition at line 132 of file simulation-pendulum.py.

◆ toc

simulation-pendulum.toc = time.time()

Definition at line 141 of file simulation-pendulum.py.

◆ type

simulation-pendulum.type

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

◆ v

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

Definition at line 127 of file simulation-pendulum.py.

◆ visual_model

simulation-pendulum.visual_model = geom_model

Definition at line 89 of file simulation-pendulum.py.

◆ viz

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

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

Variables