Constants (class variables):
Number of joints the model describes (int)
Number of joints the robot actually has (int)
List of joints wrt. the whole robot which are described by the model (List)
DynamicsSimulator(sampleTime=0.01, q0=None, dq0=None, makeConsistent=True, **kwargs)
This class interconntects the ODE solver SUNDIALS IDA, one of the dynamic robot models via the lwrsundialsmodels library and Python. It does most of the setup of the ODE solver and provides robot-specific functions to simulate and to get the results.
q0 (list of floats): List of initial joint positions, in [rad].
dq0 (list of floats): List of initial joint velocities, in [rad/s].
abstol (float): Absolute tolerance setting for the solver (required)
reltol (float): Relative tolerance setting for the solver (required)
Note
Even if the model only describes some joints of the robot, the simulator expects and returns lists with values for all joints of the robot.
Note
Even if the model only describes some joints of the robot, the simulator expects and returns lists with values for all joints of the robot.
Return the current joint positions from the state of the simulated system of robot motion dynamics.
Note
Even if the model only describes some joints of the robot, the simulator expects and returns lists with values for all joints of the robot.
Return the current joint velocities from the state of the simulated system of robot motion dynamics.
Note
Even if the model only describes some joints of the robot, the simulator expects and returns lists with values for all joints of the robot.
sampleTime: ‘double’
Set the current state of the simulated system of robot motion dynamics.
q (list): Joint positions the system should be set to
dq (list): Joint velocities the system should be set to
Note
Even if the model only describes some joints of the robot, the simulator expects and returns lists with values for all joints of the robot.
settings: sundials.sundials.IDASettings
Return solver statistics
Constants (class variables):
Number of joints the model describes (int)
Number of joints the robot actually has (int)
List of joints wrt. the whole robot which are described by the model (List)
DynamicsSimulator(sampleTime=0.01, q0=None, dq0=None, makeConsistent=True, **kwargs)
This class interconntects the ODE solver SUNDIALS IDA, one of the dynamic robot models via the lwrsundialsmodels library and Python. It does most of the setup of the ODE solver and provides robot-specific functions to simulate and to get the results.
q0 (list of floats): List of initial joint positions, in [rad].
dq0 (list of floats): List of initial joint velocities, in [rad/s].
abstol (float): Absolute tolerance setting for the solver (required)
reltol (float): Relative tolerance setting for the solver (required)
Note
Even if the model only describes some joints of the robot, the simulator expects and returns lists with values for all joints of the robot.
Note
Even if the model only describes some joints of the robot, the simulator expects and returns lists with values for all joints of the robot.
Return the current joint positions from the state of the simulated system of robot motion dynamics.
Note
Even if the model only describes some joints of the robot, the simulator expects and returns lists with values for all joints of the robot.
Return the current joint velocities from the state of the simulated system of robot motion dynamics.
Note
Even if the model only describes some joints of the robot, the simulator expects and returns lists with values for all joints of the robot.
sampleTime: ‘double’
Set the current state of the simulated system of robot motion dynamics.
q (list): Joint positions the system should be set to
dq (list): Joint velocities the system should be set to
Note
Even if the model only describes some joints of the robot, the simulator expects and returns lists with values for all joints of the robot.
settings: sundials.sundials.IDASettings
Return solver statistics
Constants (class variables):
Number of joints the model describes (int)
Number of joints the robot actually has (int)
List of joints wrt. the whole robot which are described by the model (List)
DynamicsSimulator(sampleTime=0.01, q0=None, dq0=None, makeConsistent=True, **kwargs)
This class interconntects the ODE solver SUNDIALS IDA, one of the dynamic robot models via the lwrsundialsmodels library and Python. It does most of the setup of the ODE solver and provides robot-specific functions to simulate and to get the results.
q0 (list of floats): List of initial joint positions, in [rad].
dq0 (list of floats): List of initial joint velocities, in [rad/s].
abstol (float): Absolute tolerance setting for the solver (required)
reltol (float): Relative tolerance setting for the solver (required)
Note
Even if the model only describes some joints of the robot, the simulator expects and returns lists with values for all joints of the robot.
Note
Even if the model only describes some joints of the robot, the simulator expects and returns lists with values for all joints of the robot.
Return the current joint positions from the state of the simulated system of robot motion dynamics.
Note
Even if the model only describes some joints of the robot, the simulator expects and returns lists with values for all joints of the robot.
Return the current joint velocities from the state of the simulated system of robot motion dynamics.
Note
Even if the model only describes some joints of the robot, the simulator expects and returns lists with values for all joints of the robot.
sampleTime: ‘double’
Set the current state of the simulated system of robot motion dynamics.
q (list): Joint positions the system should be set to
dq (list): Joint velocities the system should be set to
Note
Even if the model only describes some joints of the robot, the simulator expects and returns lists with values for all joints of the robot.
settings: sundials.sundials.IDASettings
Return solver statistics