|
| | simulation-pendulum.a = pin.aba(model,data_sim,q,v,tau_control) |
| |
| | simulation-pendulum.action |
| |
| | simulation-pendulum.args = parser.parse_args() |
| |
| float | simulation-pendulum.base_radius = 0.2 |
| |
| | simulation-pendulum.body_inertia = pin.Inertia.FromCylinder(cart_mass,cart_radius,cart_length) |
| |
| int | simulation-pendulum.body_mass = 1. |
| |
| | simulation-pendulum.body_placement = geometry_placement |
| |
| float | simulation-pendulum.body_radius = 0.1 |
| |
| int | simulation-pendulum.cart_length = 5 * cart_radius |
| |
| int | simulation-pendulum.cart_mass = 2. |
| |
| float | simulation-pendulum.cart_radius = 0.1 |
| |
| float | simulation-pendulum.damping_value = 0.1 |
| |
| | simulation-pendulum.data_sim = model.createData() |
| |
| float | simulation-pendulum.dt = 0.01 |
| |
| | simulation-pendulum.dt_sleep = max(0,dt - (ellapsed)) |
| |
| | simulation-pendulum.ellapsed = toc - tic |
| |
| string | simulation-pendulum.geom1_name = "ball_" + str(k+1) |
| |
| | simulation-pendulum.geom1_obj = pin.GeometryObject(geom1_name, joint_id, shape1, body_placement) |
| |
| string | simulation-pendulum.geom2_name = "bar_" + str(k+1) |
| |
| | simulation-pendulum.geom2_obj = pin.GeometryObject(geom2_name, joint_id, shape2, shape2_placement) |
| |
| | simulation-pendulum.geom_base = pin.GeometryObject("base", 0, shape_base, pin.SE3.Identity()) |
| |
| | simulation-pendulum.geom_cart = pin.GeometryObject("shape_cart", joint_id, shape_cart, geometry_placement) |
| |
| | simulation-pendulum.geom_model = pin.GeometryModel() |
| |
| | simulation-pendulum.geometry_placement = pin.SE3.Identity() |
| |
| | simulation-pendulum.help |
| |
| | simulation-pendulum.joint_id = model.addJoint(parent_id, pin.JointModelPY(), pin.SE3.Identity(), joint_name) |
| |
| string | simulation-pendulum.joint_name = "joint_cart" |
| |
| | simulation-pendulum.joint_placement = pin.SE3.Identity() |
| |
| | simulation-pendulum.meshColor |
| |
| | simulation-pendulum.model = pin.Model() |
| |
| | simulation-pendulum.N = args.N |
| |
| int | simulation-pendulum.parent_id = 0 |
| |
| | simulation-pendulum.parser = argparse.ArgumentParser() |
| |
| | simulation-pendulum.q = pin.randomConfiguration(model) |
| |
| | simulation-pendulum.q0 = pin.neutral(model) |
| |
| | simulation-pendulum.rotation |
| |
| | simulation-pendulum.shape1 = fcl.Sphere(body_radius) |
| |
| | simulation-pendulum.shape2 = fcl.Cylinder(body_radius/4.,body_placement.translation[2]) |
| |
| | simulation-pendulum.shape2_placement = body_placement.copy() |
| |
| | simulation-pendulum.shape_base = fcl.Sphere(base_radius) |
| |
| | simulation-pendulum.shape_cart = fcl.Cylinder(cart_radius, cart_length) |
| |
| int | simulation-pendulum.T = 5 |
| |
| int | simulation-pendulum.t = 0. |
| |
| | simulation-pendulum.tau_control = np.zeros((model.nv)) |
| |
| | simulation-pendulum.tic = time.time() |
| |
| | simulation-pendulum.toc = time.time() |
| |
| | simulation-pendulum.type |
| |
| | simulation-pendulum.v = np.zeros((model.nv)) |
| |
| | simulation-pendulum.visual_model = geom_model |
| |
| | simulation-pendulum.viz = Visualizer(model, geom_model, visual_model) |
| |