故而為了方便講談之故，依據遵循PyDy 推薦範例
Tutorials
We have a couple of tutorials. The human standing tutorial takes you through an entire workflow for a dynamics and control problem and is a good place to start.
……
的寫法︰
/pydy-tutorial-human-standing
Introduction
This is the material for a tutorial on analyzing multibody dynamics with scientific Python tools. It was first given as “Simulation and Control of Biomechanical Systems with Python” at the Midwest American Society of Biomechanics Regional meeting on March 4th, 2014 in Akron, Ohio. Modified versions have subsequently been given at PYCON2014, SCIPY2014, and SCIPY2015.
The tutorial covers these main topics:
- Symbolic derivation of equations of motion for multibody systems.
- Numerical simulation of the resulting system.
- 3D visualization of the motion of the system.
- Optimal feedback control for stabilization.
The attendees will be exposed to various functionality of these Python tools:
License
All materials herein are licensed under Create Commons Attribution 4.0.
Versions
A new version of the tutorial is typically created each time the tutorial is given to incorporate feedback from the attendees and for software updates. These versions can be downloaded from:
https://github.com/pydy/pydy-tutorial-human-standing/releases
Example Problem
The tutorial will go through the PyDy workflow in small steps. At the end the students should have a working 3-link 2D inverted pendulum model of a human that can be used for balancing studies. The free body diagram of the model is shown below:
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開始後續旅程也！
若遇難察的『文件』及不知『物件方法』之處，還請善用
‧ help( □ □ )
與
‧ dir( ○ ○ )
矣？
或將能掌握的更快的乎！！？？
…
‘ang_acc_in’,
‘ang_vel_in’,
‘dcm’,
‘indices’,
‘latex_vecs’,
‘name’,
‘orient’,
‘orientnew’,
‘pretty_vecs’,
‘set_ang_acc’,
‘set_ang_vel’,
‘str_vecs’,
‘variable_map’,
‘varlist’,
‘x’,
‘y’,
‘z’
……
…
‘applyfunc’,
‘args’,
‘cross’,
‘diff’,
‘doit’,
‘dot’,
‘dt’,
‘express’,
‘magnitude’,
‘normalize’,
‘outer’,
‘separate’,
‘simp’,
‘simplify’,
‘subs’,
‘to_matrix’
……