parameters: (self,nbJoint=1)
docstring: Create a Pinocchio model of a N-pendulum, with N the argument <nbJoint>.
docstring_summary: Create a Pinocchio model of a N-pendulum, with N the argument <nbJoint>.
docstring_tokens: Create a Pinocchio model of a N - pendulum with N the argument <nbJoint > .
function: def __init__(self,nbJoint=1):
          '''Create a Pinocchio model of a N-pendulum, with N the argument <nbJoint>.'''
          self.viewer     = Display()
          self.visuals    = []
          self.model      = pin.Model()
          self.createPendulum(nbJoint)
          self.data       = self.model.createData()
  
          self.q0         = zero(self.model.nq)
  
          self.DT         = 5e-2   # Step length
          self.NDT        = 2      # Number of Euler steps per integration (internal)
          self.Kf         = .10    # Friction coefficient
          self.vmax       = 8.0    # Max velocity (clipped if larger)
          self.umax       = 2.0    # Max torque   (clipped if larger)
          self.withSinCos = False
function_tokens: def __init__ ( self , nbJoint = 1 ) : self . viewer = Display ( ) self . visuals = [ ] self . model = pin . Model ( ) self . createPendulum ( nbJoint ) self . data = self . model . createData ( ) self . q0 = zero ( self . model . nq ) self . DT = 5e-2 # Step length self . NDT = 2 # Number of Euler steps per integration (internal) self . Kf = .10 # Friction coefficient self . vmax = 8.0 # Max velocity (clipped if larger) self . umax = 2.0 # Max torque   (clipped if larger) self . withSinCos = False