def __init__(self, max_force, mass, damping):
self.max_force = np.array(max_force)
spec = {
'desc': 'Particle in SO3 controlled in force.',
'shape': [3],
'format': ['C', 'C', 'C'],
'range': [[-1, +1], [-1, +1], [-1, +1]],
'names': ['t1', 't2', 't3'],
'default': [0, 0, 0],
'extra': {'max_force': max_force,
'mass': mass,
'damping': damping,
'pose_space': 'SO3'}
}
SimpleDynamics.__init__(self,
pose_space=SO3,
commands_spec=spec,
mass=mass, damping=damping)
def __init__(self, max_force, mass, damping):
self.max_force = max_force
self.mass = mass
self.damping = damping
spec = {
'desc': 'Particle in SE2 controlled in force/torque',
'shape': [3],
'format': ['C', 'C', 'C'],
'range': [[-1, +1], [-1, +1], [-1, +1]],
'names': ['fx', 'fy', 'torque'],
'default': [0, 0, 0],
'extra': {'mass': mass,
'damping': damping,
'max_force': max_force,
'pose_space': 'SE2'}
}
SimpleDynamics.__init__(self,
pose_space=SE2,
commands_spec=spec,
mass=mass,
damping=damping)
def __init__(self, max_force, mass, damping):
self.max_force = np.array(max_force)
spec = {
'desc': 'Particle in SO3 controlled in force.',
'shape': [3],
'format': ['C', 'C', 'C'],
'range': [[-1, +1], [-1, +1], [-1, +1]],
'names': ['t1', 't2', 't3'],
'default': [0, 0, 0],
'extra': {
'max_force': max_force,
'mass': mass,
'damping': damping,
'pose_space': 'SO3'
}
}
SimpleDynamics.__init__(self,
pose_space=SO3,
commands_spec=spec,
mass=mass,
damping=damping)
def __init__(self, ndim, max_force, mass, damping):
self.ndim = ndim
self.max_force = max_force
self.mass = mass
pose_space = {1: Tran1, 2: Tran2, 3: Tran3}[ndim]
spec = {
'desc': 'Particle in Euclidean space controlled in force',
'format': ['C'] * ndim,
'range': [[-1, +1]] * ndim,
'shape': [ndim],
'names': ['force%d' % d for d in range(1, ndim + 1)],
'default': [0] * ndim,
'extra': {'max_force': max_force,
'mass': mass,
'damping': damping,
'pose_space': '%s' % pose_space}
}
SimpleDynamics.__init__(self,
pose_space=pose_space,
commands_spec=spec,
mass=mass,
damping=damping)
def __init__(self, max_force, mass, damping):
self.max_force = max_force
self.mass = mass
self.damping = damping
spec = {
'desc': 'Particle in SE2 controlled in force/torque',
'shape': [3],
'format': ['C', 'C', 'C'],
'range': [[-1, +1], [-1, +1], [-1, +1]],
'names': ['fx', 'fy', 'torque'],
'default': [0, 0, 0],
'extra': {
'mass': mass,
'damping': damping,
'max_force': max_force,
'pose_space': 'SE2'
}
}
SimpleDynamics.__init__(self,
pose_space=SE2,
commands_spec=spec,
mass=mass,
damping=damping)
def __init__(self, ndim, max_force, mass, damping):
self.ndim = ndim
self.max_force = max_force
self.mass = mass
pose_space = {1: Tran1, 2: Tran2, 3: Tran3}[ndim]
spec = {
'desc': 'Particle in Euclidean space controlled in force',
'format': ['C'] * ndim,
'range': [[-1, +1]] * ndim,
'shape': [ndim],
'names': ['force%d' % d for d in range(1, ndim + 1)],
'default': [0] * ndim,
'extra': {
'max_force': max_force,
'mass': mass,
'damping': damping,
'pose_space': '%s' % pose_space
}
}
SimpleDynamics.__init__(self,
pose_space=pose_space,
commands_spec=spec,
mass=mass,
damping=damping)
