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()
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()
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()
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()
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()
