'''
import numpy as np
from riglib import plants
pi = np.pi
RED = (1, 0, 0, .5)
## BMI Plants
cursor_14x14 = plants.CursorPlant(endpt_bounds=(-14, 14, 0., 0., -14, 14))
shoulder_anchor = np.array([2., 0., -15])
chain_kwargs = dict(link_radii=.6,
joint_radii=0.6,
joint_colors=(181 / 256., 116 / 256., 96 / 256., 1),
link_colors=(181 / 256., 116 / 256., 96 / 256., 1))
chain_20_20_endpt = plants.EndptControlled2LArm(link_lengths=[20, 20],
base_loc=shoulder_anchor,
**chain_kwargs)
init_pos = np.array([0, 0, 0], np.float64)
chain_20_20_endpt.set_intrinsic_coordinates(init_pos)
chain_20_20 = plants.RobotArmGen2D(link_lengths=[20, 20],
base_loc=shoulder_anchor,
**chain_kwargs)
init_pos = np.array([0.38118002, 2.08145271])
chain_20_20.set_intrinsic_coordinates(init_pos)
plantlist = dict(cursor_14x14=cursor_14x14,
chain_20_20=chain_20_20,
chain_20_20_endpt=chain_20_20_endpt)
''' import numpy as np from riglib import plants pi = np.pi RED = (1,0,0,.5) ## BMI Plants cursor_14x14 = plants.CursorPlant(endpt_bounds=(-14, 14, 0., 0., -14, 14)) cursor_25x14 = plants.CursorPlant(endpt_bounds=(-25, 25, 0., 0., -14, 14)) big_cursor_25x14 = plants.CursorPlant(endpt_bounds=(-25, 25, 0., 0., -14, 14), cursor_radius=1.0) cursor_14x14_no_vel_wall = plants.CursorPlant(endpt_bounds=(-14, 14, 0., 0., -14, 14), vel_wall=False) chain_kwargs = dict(link_radii=.6, joint_radii=0.6, joint_colors=(181/256., 116/256., 96/256., 1), link_colors=(181/256., 116/256., 96/256., 1)) shoulder_anchor = np.array([2., 0., -15]) chain_15_15_5_5 = plants.RobotArmGen2D(link_lengths=[15, 15, 5, 5], base_loc=shoulder_anchor, **chain_kwargs) init_joint_pos = np.array([ 0.47515737, 1.1369006 , 1.57079633, 0.29316668]) chain_15_15_5_5.set_intrinsic_coordinates(init_joint_pos) tentacle2 = plants.RobotArmGen2D(link_lengths=[10, 10, 10, 10], base_loc=shoulder_anchor, **chain_kwargs) init_joint_pos = np.array([ 0.47515737, 1.1369006 , 1.57079633, 0.29316668]) tentacle2.set_intrinsic_coordinates(init_joint_pos) chain_15_15_5_5_on_screen = plants.RobotArmGen2D(link_lengths=[15, 15, 5, 5], base_loc=shoulder_anchor, stay_on_screen=True, **chain_kwargs) chain_15_15_5_5_on_screen.set_intrinsic_coordinates(init_joint_pos) chain_20_20_endpt = plants.EndptControlled2LArm(link_lengths=[20, 20], base_loc=shoulder_anchor, **chain_kwargs) init_pos = np.array([0, 0, 0], np.float64) chain_20_20_endpt.set_intrinsic_coordinates(init_pos)