Examples

The following example systems from mechanics demonstrate the application of PyTrajectory. The derivation of the model equations is omittted here.

The source code of the examples can be downloaded here. In order to run them simply type:

$ python ex<ExampleNumber>_<ExampleName>.py

The results of the examples latest simulation are saved in a pickle dump file by default. To prevent this add the no-pickle command line argument to the command above.

If you want to plot the results and/or animate the example system add the plot and/or the animate argument to the command.

So the command may look something like:

$ python ex0_InvertedPendulumSwingUp.py no-pickle plot animate

For even more examples, which might not be part of the documentation, have a look at the repository.

• Translation of the inverted pendulum
• Swing up of the inverted dual pendulum
• Aircraft
• Underactuated Manipulator
• Acrobot
• Constrained double integrator
• Constrained swing up of the inverted pundulum
• Constrained swing up of the inverted double pendulum
• Swing up of a 3-bar pendulum