def planar2r():
robo = Robot('planar2r', 2, 2, 3, False, tools.SIMPLE)
# update geometric params
params = {
1: {'sigma': 0, 'mu': 1, 'theta': var('th1')},
2: {'sigma': 0, 'mu': 1, 'alpha': 0, 'd': var('L1'), 'theta': var('th2')},
3: {'sigma': 2, 'd': var('L2')}
}
robo.update_params('geos', params)
# update dynamic params
params = {
1: {'xx': 0, 'xy': 0, 'xz': 0, 'yy': 0, 'yz': 0, 'ia': 0}
}
robo.update_params('dyns', params)
# update joint params
params = {
0: {'qdots': 0, 'qddots': 0, 'torques': 0}
}
robo.update_params('misc', params)
# update gravity vector
params = {
0: {'gravity': 0},
1: {'gravity': 0},
2: {'gravity': var('G3')},
}
robo.update_params('misc', params)
return robo
def planar2r_numerical(is_floating=False):
# numerical values (random in some case)
L1 = 0.5
L2 = 0.4
ZZ1 = 3.7
ZZ2 = 0.35
MX2 = 0.4
MY2 = 0.15
M1 = 1.2
M2 = 0.8
FC1 = 0.3
FC2 = 0.25
FV1 = 0.3
FV2 = 0.18
IA1 = 0.0
IA2 = 0.0
G3 = -9.81
# create robot
robo = Robot(
'planar2r', 2, 2, 3, is_floating,
tools.SIMPLE, is_symbolic=False
)
robo.set_dyns_to_zero()
# update geometric params
params = {
1: {'sigma': 0, 'mu': 1},
2: {'sigma': 0, 'mu': 1, 'd': L1},
3: {'sigma': 2, 'd': L2}
}
robo.update_params('geos', params)
# update dynamic params
params = {
1: {
'zz': ZZ1, 'frc': FC1, 'frv': FV1, 'ia': IA1, 'mass': M1
},
2: {
'zz': ZZ2, 'frc': FC2, 'frv': FV2, 'ia': IA2, 'mass': M2,
'msx': MX2, 'msy': MY2
}
}
robo.update_params('dyns', params)
# update joint params
params = {0: {'qdots': 0, 'qddots': 0, 'torques': 0}}
robo.update_params('misc', params)
# update gravity vector
params = {
0: {'gravity': 0},
1: {'gravity': 0},
2: {'gravity': G3},
}
robo.update_params('misc', params)
return robo
def planar2r():
robo = Robot('planar2r', 2, 2, 3, False, tools.SIMPLE)
# update geometric params
params = {
1: {
'sigma': 0,
'mu': 1,
'theta': var('th1')
},
2: {
'sigma': 0,
'mu': 1,
'alpha': 0,
'd': var('L1'),
'theta': var('th2')
},
3: {
'sigma': 2,
'd': var('L2')
}
}
robo.update_params('geos', params)
# update dynamic params
params = {1: {'xx': 0, 'xy': 0, 'xz': 0, 'yy': 0, 'yz': 0, 'ia': 0}}
robo.update_params('dyns', params)
# update joint params
params = {0: {'qdots': 0, 'qddots': 0, 'torques': 0}}
robo.update_params('misc', params)
# update gravity vector
params = {
0: {
'gravity': 0
},
1: {
'gravity': 0
},
2: {
'gravity': var('G3')
},
}
robo.update_params('misc', params)
return robo
def planar2r_numerical(is_floating=False):
# numerical values (random in some case)
L1 = 0.5
L2 = 0.4
ZZ1 = 3.7
ZZ2 = 0.35
MX2 = 0.4
MY2 = 0.15
M1 = 1.2
M2 = 0.8
FC1 = 0.3
FC2 = 0.25
FV1 = 0.3
FV2 = 0.18
IA1 = 0.0
IA2 = 0.0
G3 = -9.81
# create robot
robo = Robot('planar2r',
2,
2,
3,
is_floating,
tools.SIMPLE,
is_symbolic=False)
robo.set_dyns_to_zero()
# update geometric params
params = {
1: {
'sigma': 0,
'mu': 1
},
2: {
'sigma': 0,
'mu': 1,
'd': L1
},
3: {
'sigma': 2,
'd': L2
}
}
robo.update_params('geos', params)
# update dynamic params
params = {
1: {
'zz': ZZ1,
'frc': FC1,
'frv': FV1,
'ia': IA1,
'mass': M1
},
2: {
'zz': ZZ2,
'frc': FC2,
'frv': FV2,
'ia': IA2,
'mass': M2,
'msx': MX2,
'msy': MY2
}
}
robo.update_params('dyns', params)
# update joint params
params = {0: {'qdots': 0, 'qddots': 0, 'torques': 0}}
robo.update_params('misc', params)
# update gravity vector
params = {
0: {
'gravity': 0
},
1: {
'gravity': 0
},
2: {
'gravity': G3
},
}
robo.update_params('misc', params)
return robo