def __init__(self, Tp2ws):
###
### Student team selection -- transform from workspace coordinates to world
###
Tws2w = asarray([[1, 0, 0, 0], [0, 1, 0, -5], [0, 0, 1, -10],
[0, 0, 0, 1]])
###
### Arm specification
###
armSpec = asarray([
[0, 0.01, 1, 5, 0],
[0, 1, 0, 5, 1.57],
[0, 1, 0, 5, 0],
]).T
ArmAnimatorApp.__init__(self, armSpec, Tws2w, Tp2ws)
def __init__(self, Tp2ws, x, y, s, **kw):
###
### Student team selection -- transform from workspace coordinates to world
###
#first three columns represent axis. Last column represents
#translation. Adjust last column to adjust workspace placement relative to arm.
#Base of arm is always at world origin
Tws2w = asarray([
[1, 0, 0, 0], #placement of workspace along x axis
[0, 1, 0, -5], #placement of workspace along y axis
[0, 0, 1, -10], #placement of workspace along z axis
[0, 0, 0, 1]
])
###
### Arm specification
###
#Each row represents an arm segment.
#First three columns represent joint rotation axis. Fourth column represents
#arm segment length. Last column represents initial arm segment angle.
armSpec = asarray([
[0, 0.02, 1, 5, 0],
[0, 1, 0, 5, 1.57],
[0, 1, 0, 5, 0],
]).T
self.armSpec = armSpec
ArmAnimatorApp.__init__(
self,
armSpec,
Tws2w,
Tp2ws,
simTimeStep=
0.25, # Real time that corresponds to simulation time of 0.1 sec
**kw)
self.idealArm = Arm(
armSpec
) #create instance of arm class without real-life properties
self.move = Move(self) #move plan