Esempio n. 1
0
File: arm.py Progetto: eejd/blog
    def __init__(self, JEE='x', **kwargs):
        """
        JEE string: specifies whether the Jacobian for OSC control of 
                    the end-effector should relay the x or y position.
        """

        Arm.__init__(self, singularity_thresh=1e-10, **kwargs)

        # length of arm links
        self.l1 = .8
        self.L = np.array([self.l1])
        # mass of links
        m1 = 1.0
        # z axis inertia moment of links
        izz1 = 15.
        # create mass matrices at COM for each link
        self.M1 = np.zeros((6, 6))
        self.M1[0:3, 0:3] = np.eye(3) * m1
        self.M1[3:, 3:] = np.eye(3) * izz1

        self.resting_position = np.array([np.pi / 4.0])

        # stores information returned from maplesim
        self.state = np.zeros(3)
        # maplesim arm simulation
        self.sim = py1LinkArm.pySim(dt=self.dt)
        self.sim.reset(self.state)
        self.update_state()
Esempio n. 2
0
    def __init__(self, JEE='x', **kwargs):
        """
        JEE string: specifies whether the Jacobian for OSC control of 
                    the end-effector should relay the x or y position.
        """

        Arm.__init__(self, singularity_thresh=1e-10, **kwargs)


        # length of arm links
        self.l1 = .8
        self.L = np.array([self.l1])
        # mass of links
        m1=1.0
        # z axis inertia moment of links
        izz1=15.
        # create mass matrices at COM for each link
        self.M1 = np.zeros((6,6))
        self.M1[0:3,0:3] = np.eye(3)*m1; self.M1[3:,3:] = np.eye(3)*izz1

        self.resting_position = np.array([np.pi/4.0])
        
        # stores information returned from maplesim
        self.state = np.zeros(3) 
        # maplesim arm simulation
        self.sim = py1LinkArm.pySim(dt=self.dt)
        self.sim.reset(self.state)
        self.update_state()
Esempio n. 3
0
File: arm.py Progetto: vaqeroks/blog
    def __init__(self, dt=1e-5):
        self.l1 = 0.8

        # mass of links
        m1 = 1.0
        # z axis inertia moment of links
        izz1 = 15.0
        # create mass matrices at COM for each link
        self.M1 = np.zeros((6, 6))
        self.M1[0:3, 0:3] = np.eye(3) * m1
        self.M1[3:, 3:] = np.eye(3) * izz1

        # stores information returned from maplesim
        self.state = np.zeros(3)
        # maplesim arm simulation
        self.dt = dt
        self.sim = py1LinkArm.pySim(dt=dt)
        self.sim.reset(self.state)
        self.update_state()
Esempio n. 4
0
    def __init__(self, **kwargs):

        Arm.__init__(self, **kwargs)

        # length of arm links
        self.l1 = .8
        self.L = np.array([self.l1])
        # mass of links
        m1 = 1.0
        # z axis inertia moment of links
        izz1 = 15.
        # create mass matrices at COM for each link
        self.M1 = np.zeros((6, 6))
        self.M1[0:3, 0:3] = np.eye(3) * m1
        self.M1[3:, 3:] = np.eye(3) * izz1

        self.resting_position = np.array([np.pi / 4.0])

        # stores information returned from maplesim
        self.state = np.zeros(3)
        # maplesim arm simulation
        self.sim = py1LinkArm.pySim(dt=self.dt)
        self.sim.reset(self.state)
        self.update_state()
Esempio n. 5
0
File: arm.py Progetto: ptee/blog
    def __init__(self, **kwargs):

        Arm.__init__(self, **kwargs)

        # length of arm links
        self.l1 = 0.8
        self.L = np.array([self.l1])
        # mass of links
        m1 = 1.0
        # z axis inertia moment of links
        izz1 = 15.0
        # create mass matrices at COM for each link
        self.M1 = np.zeros((6, 6))
        self.M1[0:3, 0:3] = np.eye(3) * m1
        self.M1[3:, 3:] = np.eye(3) * izz1

        self.resting_position = np.array([np.pi / 4.0])

        # stores information returned from maplesim
        self.state = np.zeros(3)
        # maplesim arm simulation
        self.sim = py1LinkArm.pySim(dt=self.dt)
        self.sim.reset(self.state)
        self.update_state()