(humanoid=True)
| 13 | |
| 14 | |
| 15 | def create_multibody_ode(humanoid=True): |
| 16 | try: |
| 17 | import pinocchio as pin |
| 18 | |
| 19 | if humanoid: |
| 20 | model = pin.buildSampleModelHumanoid() |
| 21 | else: |
| 22 | model = pin.buildSampleModelManipulator() |
| 23 | space = manifolds.MultibodyPhaseSpace(model) |
| 24 | nu = model.nv |
| 25 | B = np.eye(nu) |
| 26 | ode = dynamics.MultibodyFreeFwdDynamics(space, B) |
| 27 | data = ode.createData() |
| 28 | assert isinstance(data, dynamics.MultibodyFreeFwdData) |
| 29 | return ode |
| 30 | except ImportError: |
| 31 | return None |
| 32 | |
| 33 | |
| 34 | def create_linear_ode(nx, nu): |