Welcome to arboris-python’s documentation!

Contents:

• Introduction
  • Background
  • Comparison to arboris-matlab
• Quick start
  • First contact with the World
  • A dynamic simulation
  • ...with visualization
  • Using a controller
  • Writing a controller
  • Adding contacts
• Rigid Motion
  • Rigid bodies and frames
  • Position of a coordinate frame
  • Velocity of a coordinate frame
  • Wrenches
  • Acceleration of a coordinate frame
  • Newton-Euler equations for a rigid body
  • Implementation
  • Dynamics
• Rigid Mechanisms
  • Ideal Joints
  • Implementation
  • Mechanisms
• Simulation loop
  • Overview
  • update_dynamic()
  • update_controllers()
  • update_constraints()
  • integrate()
• Computation of the dynamical model
  • Unactuated free model
  • Controllers model
• Controllers
  • Proportional-derivative controller
  • Weight controller
• Constraints and contacts
  • Gauss-Seidel algorithm
  • Constraints
• Collisions
  • arboris.collisions
• Modules
  • core – The core of the simulator
  • human36
  • homogeneousmatrix
  • adjointmatrix
  • twistvector
  • massmatrix
• Notations
  • A notation conversion table
  • Some formulas
  • How KDL works
• Install
  • What we use...
  • Installation on Ubuntu Karmic Koala (9.10)
  • For Mac OS 10.6 (Snow Leopard)
  • For windows
• Development
  • Using Git
• Quirks
  • Python
  • Numpy
  • Arboris

Indices and tables

• Index
• Module Index
• Search Page