Beispiel #1
0
 def __init__(self, max_force, mass, damping):
     self.max_force = np.array(max_force)
     spec = {
         'desc': 'Particle in SO3 controlled in force.',
         'shape': [3],
         'format': ['C', 'C', 'C'],
         'range': [[-1, +1], [-1, +1], [-1, +1]],
         'names': ['t1', 't2', 't3'],
         'default': [0, 0, 0],
         'extra': {'max_force': max_force,
                   'mass': mass,
                   'damping': damping,
                   'pose_space': 'SO3'}
     }
     SimpleDynamics.__init__(self,
                       pose_space=SO3,
                       commands_spec=spec,
                       mass=mass, damping=damping)
Beispiel #2
0
 def __init__(self, max_force, mass, damping):
     self.max_force = max_force
     self.mass = mass
     self.damping = damping
     spec = {
         'desc': 'Particle in SE2 controlled in force/torque',
         'shape': [3],
         'format': ['C', 'C', 'C'],
         'range': [[-1, +1], [-1, +1], [-1, +1]],
         'names': ['fx', 'fy', 'torque'],
         'default': [0, 0, 0],
         'extra': {'mass': mass,
                   'damping': damping,
                   'max_force': max_force,
                   'pose_space': 'SE2'}
     }
     SimpleDynamics.__init__(self,
                       pose_space=SE2,
                       commands_spec=spec,
                       mass=mass,
                       damping=damping)
Beispiel #3
0
 def __init__(self, max_force, mass, damping):
     self.max_force = np.array(max_force)
     spec = {
         'desc': 'Particle in SO3 controlled in force.',
         'shape': [3],
         'format': ['C', 'C', 'C'],
         'range': [[-1, +1], [-1, +1], [-1, +1]],
         'names': ['t1', 't2', 't3'],
         'default': [0, 0, 0],
         'extra': {
             'max_force': max_force,
             'mass': mass,
             'damping': damping,
             'pose_space': 'SO3'
         }
     }
     SimpleDynamics.__init__(self,
                             pose_space=SO3,
                             commands_spec=spec,
                             mass=mass,
                             damping=damping)
Beispiel #4
0
 def __init__(self, ndim, max_force, mass, damping):
     self.ndim = ndim
     self.max_force = max_force
     self.mass = mass
     pose_space = {1: Tran1, 2: Tran2, 3: Tran3}[ndim]
     spec = {
         'desc': 'Particle in Euclidean space controlled in force',
         'format': ['C'] * ndim,
         'range': [[-1, +1]] * ndim,
         'shape': [ndim],
         'names': ['force%d' % d for d in range(1, ndim + 1)],
         'default': [0] * ndim,
         'extra': {'max_force': max_force,
                   'mass': mass,
                   'damping': damping,
                   'pose_space': '%s' % pose_space}
     }
     SimpleDynamics.__init__(self,
                       pose_space=pose_space,
                       commands_spec=spec,
                       mass=mass,
                       damping=damping)
Beispiel #5
0
 def __init__(self, max_force, mass, damping):
     self.max_force = max_force
     self.mass = mass
     self.damping = damping
     spec = {
         'desc': 'Particle in SE2 controlled in force/torque',
         'shape': [3],
         'format': ['C', 'C', 'C'],
         'range': [[-1, +1], [-1, +1], [-1, +1]],
         'names': ['fx', 'fy', 'torque'],
         'default': [0, 0, 0],
         'extra': {
             'mass': mass,
             'damping': damping,
             'max_force': max_force,
             'pose_space': 'SE2'
         }
     }
     SimpleDynamics.__init__(self,
                             pose_space=SE2,
                             commands_spec=spec,
                             mass=mass,
                             damping=damping)
Beispiel #6
0
 def __init__(self, ndim, max_force, mass, damping):
     self.ndim = ndim
     self.max_force = max_force
     self.mass = mass
     pose_space = {1: Tran1, 2: Tran2, 3: Tran3}[ndim]
     spec = {
         'desc': 'Particle in Euclidean space controlled in force',
         'format': ['C'] * ndim,
         'range': [[-1, +1]] * ndim,
         'shape': [ndim],
         'names': ['force%d' % d for d in range(1, ndim + 1)],
         'default': [0] * ndim,
         'extra': {
             'max_force': max_force,
             'mass': mass,
             'damping': damping,
             'pose_space': '%s' % pose_space
         }
     }
     SimpleDynamics.__init__(self,
                             pose_space=pose_space,
                             commands_spec=spec,
                             mass=mass,
                             damping=damping)