show()
#with_weight = True
with_weight = False
is_fixed = False
use_snake = True
w = World()
njoints = 9
lengths = [1., .9, .8 , .7 , .6, .5, .4 , .3, .2]
masses = [1., .9, .8 , .7 , .6, .5, .4 , .3, .2]
gvel = gvel=[2.]*njoints
gpos = [0, 3.14159/4., 0, 0, 0, 0, 0, 0, 0]
#gpos = [0.]*njoints
if use_snake:
add_snake(w, njoints, lengths=lengths, masses=masses, gpos=gpos, gvel=gvel, is_fixed=False)
else:
assert njoints == 9
add_robot(w, gpos=gpos, gvel=gvel, is_fixed=is_fixed)
if with_weight:
w.register(arboris.controllers.WeightController())
t_end = 2.08
else:
t_end = 1.430
nrj = EnergyMonitor(w)
mM = MassMonitor(w)
w.observers.append(mM)
#w.observers.append(Drawer(w))
show()
t_start, t_end, dt = 0., 2.08, 0.005
t_end = 1.430 ####
timeline = arange(t_start, t_end, dt)
with_weight = False
is_fixed = False
world = ObservableWorld()
world._up = array([0., 0., 1.]) # we use matlab's convention
njoints = 9
lengths = [1., .9, .8 , .7 , .6, .5, .4 , .3, .2]
masses = [1., .9, .8 , .7 , .6, .5, .4 , .3, .2]
gvel = gvel=[2.]*njoints
gpos = [0, 3.14159/4., 0, 0, 0, 0, 0, 0, 0]
add_snake(world, njoints, lengths, masses, gvel=[2.]*njoints, is_fixed=is_fixed)
name = "haha"
if with_weight:
world.register(WeightController(world))
simulate_mat(world, timeline, name)
simulate_py(world, timeline, name)
matpy = load_matpy(name)
d = diff_matpy(*matpy)
print max_error(d)
plot_energy(*matpy)
show()
t_start, t_end, dt = 0., 2.08, 0.005
t_end = 1.430 ####
timeline = arange(t_start, t_end, dt)
with_weight = False
is_fixed = False
world = World()
world._up = array([0., 0., 1.]) # we use matlab's convention
njoints = 9
lengths = [1., .9, .8 , .7 , .6, .5, .4 , .3, .2]
masses = [1., .9, .8 , .7 , .6, .5, .4 , .3, .2]
gvel = gvel=[2.]*njoints
gpos = [0, 3.14159/4., 0, 0, 0, 0, 0, 0, 0]
add_snake(world, njoints, lengths, masses, gvel=[2.]*njoints, is_fixed=is_fixed)
name = "haha"
if with_weight:
world.register(WeightController(world))
simulate_mat(world, timeline, name)
simulate_py(world, timeline, name)
matpy = load_matpy(name)
d = diff_matpy(*matpy)
print max_error(d)
plot_energy(*matpy)
