MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>. ''' import nengo import numpy as np import Arm; reload(Arm) run_in_GUI = True # set the initial position of the arm arm = Arm.Arm2Link(dt=1e-3) arm.reset(q=[np.pi/5.5, np.pi/1.7], dq=[0, 0]) """Generate the Nengo model that will control the arm.""" model = nengo.Network() with model: # create input nodes def arm_func(t, x): u = x[:2] arm.apply_torque(u) data = np.hstack([arm.q0, arm.q1, arm.dq0, arm.dq1, arm.x]) # data returned from node to model # visualization code ----------------------------------------------------- scale = 15