Namespaces | Variables
simulation-pendulum.py File Reference

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Namespaces

 simulation-pendulum
 

Variables

 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)
 


pinocchio
Author(s):
autogenerated on Fri Jun 23 2023 02:38:33