def __init__(O, sites, masses, pivot, normal):
O.number_of_sites = len(sites)
mp = mass_points(sites=sites, masses=masses)
O.sum_of_masses = mp.sum_of_masses()
O.alignment = joint_lib.revolute_alignment(pivot=pivot, normal=normal)
O.i_spatial = mp.spatial_inertia(alignment_cb_0b=O.alignment.cb_0b)
#
O.joint = joint_lib.revolute(qe=matrix.col([0]))
O.qd = O.joint.qd_zero
def __init__(O, sites, masses, pivot, normal): O.number_of_sites = len(sites) mp = mass_points(sites=sites, masses=masses) O.sum_of_masses = mp.sum_of_masses() O.alignment = joint_lib.revolute_alignment(pivot=pivot, normal=normal) O.i_spatial = mp.spatial_inertia(alignment_cb_0b=O.alignment.cb_0b) # O.joint = joint_lib.revolute(qe=matrix.col([0])) O.qd = O.joint.qd_zero
def __init__(O, parent):
pivot = matrix.col((0.779, 5.262, 5.227))
normal = matrix.col((0.25, 0.86, -0.45)).normalize()
sites = matrix.col_list([(-0.084, 6.09, 4.936)])
mass_points = body_lib.mass_points(sites=sites, masses=[1.0])
O.alignment = joint_lib.revolute_alignment(pivot=pivot, normal=normal)
O.i_spatial = mass_points.spatial_inertia(
alignment_cb_0b=O.alignment.cb_0b)
O.joint = joint_lib.revolute(qe=matrix.col([0.26]))
O.qd = matrix.col([-0.19])
assert O.joint.get_linear_velocity(qd=O.qd) is None
assert O.joint.new_linear_velocity(qd=None, value=None) is None
O.parent = parent
def __init__(O, parent):
pivot = matrix.col((0.779, 5.262, 5.227))
normal = matrix.col((0.25, 0.86, -0.45)).normalize()
sites = matrix.col_list([(-0.084, 6.09, 4.936)])
mass_points = body_lib.mass_points(sites=sites, masses=[1.0])
O.alignment = joint_lib.revolute_alignment(pivot=pivot, normal=normal)
O.i_spatial = mass_points.spatial_inertia(
alignment_cb_0b=O.alignment.cb_0b)
O.joint = joint_lib.revolute(qe=matrix.col([0.26]))
O.qd = matrix.col([-0.19])
assert O.joint.get_linear_velocity(qd=O.qd) is None
assert O.joint.new_linear_velocity(qd=None, value=None) is None
O.parent = parent
