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)