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)

float	body_mass = 1.0

	body_placement = geometry_placement

float	body_radius = 0.1

int	cart_length = 5 * cart_radius

float	cart_mass = 2.0

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, body_placement, shape1)

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

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

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

	geom_cart

	geom_model = pin.GeometryModel()

	geometry_placement = pin.SE3.Identity()

	help

	joint_id

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 / 4.0, 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

float	t = 0.0

	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 153 of file simulation-pendulum.py.

◆ action

simulation-pendulum.action

Definition at line 16 of file simulation-pendulum.py.

◆ args

simulation-pendulum.args = parser.parse_args()

Definition at line 21 of file simulation-pendulum.py.

◆ base_radius

float simulation-pendulum.base_radius = 0.2

Definition at line 64 of file simulation-pendulum.py.

◆ body_inertia

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

Definition at line 48 of file simulation-pendulum.py.

◆ body_mass

float simulation-pendulum.body_mass = 1.0

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

◆ body_placement

simulation-pendulum.body_placement = geometry_placement

Definition at line 49 of file simulation-pendulum.py.

◆ body_radius

float simulation-pendulum.body_radius = 0.1

Definition at line 72 of file simulation-pendulum.py.

◆ cart_length

int simulation-pendulum.cart_length = 5 * cart_radius

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

◆ cart_mass

float simulation-pendulum.cart_mass = 2.0

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

◆ cart_radius

float simulation-pendulum.cart_radius = 0.1

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

◆ damping_value

float simulation-pendulum.damping_value = 0.1

Definition at line 149 of file simulation-pendulum.py.

◆ data_sim

simulation-pendulum.data_sim = model.createData()

Definition at line 143 of file simulation-pendulum.py.

◆ dt

float simulation-pendulum.dt = 0.01

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

◆ dt_sleep

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

Definition at line 163 of file simulation-pendulum.py.

◆ ellapsed

simulation-pendulum.ellapsed = toc - tic

Definition at line 161 of file simulation-pendulum.py.

◆ geom1_name

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

Definition at line 85 of file simulation-pendulum.py.

◆ geom1_obj

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

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

◆ geom2_name

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

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

◆ geom2_obj

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

Definition at line 96 of file simulation-pendulum.py.

◆ geom_base

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

Definition at line 66 of file simulation-pendulum.py.

◆ geom_cart

simulation-pendulum.geom_cart

Initial value:

 =  pin.GeometryObject(
         "shape_cart", joint_id, geometry_placement, shape_cart
     )

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

◆ geom_model

simulation-pendulum.geom_model = pin.GeometryModel()

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

◆ geometry_placement

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

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

◆ help

simulation-pendulum.help

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

◆ joint_id

simulation-pendulum.joint_id

Initial value:

 =  model.addJoint(
         parent_id, pin.JointModelPY(), pin.SE3.Identity(), joint_name
     )

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

◆ joint_name

string simulation-pendulum.joint_name = "joint_cart"

Definition at line 37 of file simulation-pendulum.py.

◆ joint_placement

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

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

◆ meshColor

simulation-pendulum.meshColor

Definition at line 59 of file simulation-pendulum.py.

◆ model

simulation-pendulum.model = pin.Model()

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

◆ N

int simulation-pendulum.N = args.N

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

◆ parent_id

simulation-pendulum.parent_id = 0

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

◆ parser

simulation-pendulum.parser = argparse.ArgumentParser()

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

◆ q

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

Definition at line 146 of file simulation-pendulum.py.

◆ q0

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

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

◆ rotation

simulation-pendulum.rotation

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

◆ shape1

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

Definition at line 86 of file simulation-pendulum.py.

◆ shape2

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

Definition at line 92 of file simulation-pendulum.py.

◆ shape2_placement

simulation-pendulum.shape2_placement = body_placement.copy()

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

◆ shape_base

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

Definition at line 65 of file simulation-pendulum.py.

◆ shape_cart

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

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

◆ T

int simulation-pendulum.T = 5

Definition at line 133 of file simulation-pendulum.py.

◆ t

float simulation-pendulum.t = 0.0

Definition at line 145 of file simulation-pendulum.py.

◆ tau_control

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

Definition at line 148 of file simulation-pendulum.py.

◆ tic

simulation-pendulum.tic = time.time()

Definition at line 151 of file simulation-pendulum.py.

◆ toc

simulation-pendulum.toc = time.time()

Definition at line 160 of file simulation-pendulum.py.

◆ type

simulation-pendulum.type

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

◆ v

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

Definition at line 147 of file simulation-pendulum.py.

◆ visual_model

simulation-pendulum.visual_model = geom_model

Definition at line 104 of file simulation-pendulum.py.

◆ viz

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

Definition at line 107 of file simulation-pendulum.py.

Variables