def __init__(self, **kwargs):
Arm.__init__(self, **kwargs)
# length of arm links
self.l1 = 2.0; self.l2 = 1.2; self.l3 = .7
self.L = np.array([self.l1, self.l2, self.l3])
# mass of links
m1=10; m2=m1; m3=m1
# z axis inertia moment of links
izz1=100; izz2=izz1; izz3=izz1
# create mass matrices at COM for each link
self.M1 = np.zeros((6,6))
self.M2 = np.zeros((6,6))
self.M3 = np.zeros((6,6))
self.M1[0:3,0:3] = np.eye(3)*m1; self.M1[5,5] = izz1
self.M2[0:3,0:3] = np.eye(3)*m2; self.M2[5,5] = izz2
self.M3[0:3,0:3] = np.eye(3)*m3; self.M3[5,5] = izz3
# forcefield as defined in Shademehr 1994 experiment 1
self.B = np.array([[-10.1, -11.2],[-11.2, 11.1]])*5
self.rest_angles = np.array([np.pi/4.0, np.pi/4.0, np.pi/4.0])
# stores information returned from maplesim
self.state = np.zeros(7)
# maplesim arm simulation
self.sim = py3LinkArm.pySim(dt=self.dt)
self.sim.reset(self.state)
self.update_state()
def __init__(self, **kwargs):
Arm.__init__(self, **kwargs)
# length of arm links
self.l1 = 2.0
self.l2 = 1.2
self.l3 = .7
self.L = np.array([self.l1, self.l2, self.l3])
# mass of links
m1 = 10
m2 = m1
m3 = m1
# z axis inertia moment of links
izz1 = 100
izz2 = izz1
izz3 = izz1
# create mass matrices at COM for each link
self.M1 = np.zeros((6, 6))
self.M2 = np.zeros((6, 6))
self.M3 = np.zeros((6, 6))
self.M1[0:3, 0:3] = np.eye(3) * m1
self.M1[5, 5] = izz1
self.M2[0:3, 0:3] = np.eye(3) * m2
self.M2[5, 5] = izz2
self.M3[0:3, 0:3] = np.eye(3) * m3
self.M3[5, 5] = izz3
# forcefield as defined in Shademehr 1994 experiment 1
self.B = np.array([[-10.1, -11.2], [-11.2, 11.1]]) * 5
self.rest_angles = np.array([np.pi / 4.0, np.pi / 4.0, np.pi / 4.0])
# stores information returned from maplesim
self.state = np.zeros(7)
# maplesim arm simulation
self.sim = py3LinkArm.pySim(dt=self.dt)
self.sim.reset(self.state)
self.update_state()
def __init__(self, dt=1e-5):
# length of arm links
self.l1 = 2.0; self.l2 = 1.2; self.l3 = .7
# mass of links
m1=100; m2=m1; m3=m1
# z axis inertia moment of links
izz1=100; izz2=izz1; izz3=izz1
# create mass matrices at COM for each link
self.M1 = np.zeros((6,6))
self.M2 = np.zeros((6,6))
self.M3 = np.zeros((6,6))
self.M1[0:3,0:3] = np.eye(3)*m1; self.M1[5,5] = izz1
self.M2[0:3,0:3] = np.eye(3)*m2; self.M2[5,5] = izz2
self.M3[0:3,0:3] = np.eye(3)*m3; self.M3[5,5] = izz3
# stores information returned from maplesim
self.state = np.zeros(7)
# maplesim arm simulation
self.dt = dt
self.sim = py3LinkArm.pySim(dt=dt)
self.sim.reset(self.state)
self.update_state()
