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)
# 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)
# 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
def __init__(self, **kwargs):
Arm2Base.__init__(self, **kwargs)
self.reset() # set to init_q and init_dq
