def __init__(self, **kwargs): Arm2Base.__init__(self, **kwargs) # stores information returned from maplesim self.state = np.zeros(7) # maplesim arm simulation self.sim = py2LinkArm.pySim(dt=1e-5) self.sim.reset(self.state) self.reset() # set to init_q and init_dq
def __init__(self, **kwargs): Arm2Base.__init__(self, **kwargs) # compute non changing constants self.K1 = (1/3. * self.m1 + self.m2) * self.l1**2. + \ 1/3. * self.m2 * self.l2**2. self.K2 = self.m2 * self.l1 * self.l2 self.K3 = 1/3. * self.m2 * self.l2**2. self.K4 = 1/2. * self.m2 * self.l1* self.l2 self.reset() # set to init_q and init_dq
def __init__(self, **kwargs): Arm2Base.__init__(self, **kwargs) # compute non changing constants self.K1 = (1/3. * self.m1 + self.m2) * self.l1**2. + \ 1/3. * self.m2 * self.l2**2. self.K2 = self.m2 * self.l1 * self.l2 self.K3 = 1 / 3. * self.m2 * self.l2**2. self.K4 = 1 / 2. * self.m2 * self.l1 * self.l2 self.reset() # set to init_q and init_dq
def __init__(self, **kwargs): Arm2Base.__init__(self, **kwargs) # arm model parameters self.m1 = 1.4 # segment mass self.m2 = 1.1 s1 = 0.11 # segment center of mass s2 = 0.16 i1 = 0.025 # segment moment of inertia i2 = 0.045 b11 = b22 = b12 = b21 = 0.0 # b11_ = 0.7 # joint friction # b22_ = 0.8 # b12_ = 0.08 # b21_ = 0.08 tau = 0.04 # actuator time constant (sec) self.reset() # set to init_q and init_dq
def __init__(self, **kwargs): Arm2Base.__init__(self, **kwargs) self.reset() # set to init_q and init_dq