def cart_pole(): """Generate Robot instance of classical CartPole dynamic system.""" # TODO: bring it to the new notation with 0-frame robo = Robot("CartPole", 2, 2, 2, False) robo.ant = (-1, 0, 1) robo.sigma = (0, 1, 0) robo.alpha = (0, pi / 2, pi / 2) robo.d = (0, 0, 0) robo.theta = (0, pi / 2, var("th2")) robo.r = (0, var("r1"), 0) robo.b = (0, 0, 0) robo.gamma = (0, 0, 0) robo.structure = tools.SIMPLE robo.num = range(0, 3) robo.Nex = [zeros(3, 1) for i in robo.num] robo.Fex = [zeros(3, 1) for i in robo.num] robo.FS = [0 for i in robo.num] robo.IA = [0 for i in robo.num] robo.FV = [var("FV{0}".format(i)) for i in robo.num] robo.MS = [zeros(3, 1) for i in robo.num] robo.MS[1][0] = var("MX2") robo.M = [var("M{0}".format(i)) for i in robo.num] robo.GAM = [var("GAM{0}".format(i)) for i in robo.num] inertia_matrix_terms = ("XX{0}, XY{0}, XZ{0}, ") + ("XY{0}, YY{0}, YZ{0}, ") + ("XZ{0}, YZ{0}, ZZ{0}") robo.J = [Matrix(3, 3, var(inertia_matrix_terms.format(i))) for i in robo.num] robo.G = Matrix([0, 0, -var("G3")]) robo.w0 = zeros(3, 1) robo.wdot0 = zeros(3, 1) robo.v0 = zeros(3, 1) robo.vdot0 = zeros(3, 1) robo.q = [0, var("r1"), var("th2")] robo.qdot = [0, var("r1d"), var("th2d")] robo.qddot = [0, var("r1dd"), var("th2dd")] return robo
def sr400(): # TODO: bring it to the new notation with 0-frame """Generate Robot instance of SR400""" robo = Robot("SR400", 8, 9, 10, False) robo.ant = [-1, 0, 1, 2, 3, 4, 5, 1, 7, 8, 3] robo.sigma = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 2] robo.mu = [0, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0] robo.alpha = [0, 0, -pi / 2, 0, -pi / 2, pi / 2, -pi / 2, -pi / 2, 0, 0, 0] d_var = var("D:9") robo.d = [0, 0, d_var[2], d_var[3], d_var[4], 0, 0, d_var[2], d_var[8], d_var[3], -d_var[8]] robo.theta = [0] + list(var("th1:10")) + [0] robo.r = [0, 0, 0, 0, var("RL4"), 0, 0, 0, 0, 0, 0] robo.b = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] robo.gamma = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, pi / 2] robo.structure = tools.CLOSED_LOOP return robo
def sr400(): #TODO: bring it to the new notation with 0-frame """Generate Robot instance of SR400""" robo = Robot('SR400', 8, 9, 10, False) robo.ant = [-1, 0, 1, 2, 3, 4, 5, 1, 7, 8, 3] robo.sigma = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 2] robo.mu = [0, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0] robo.alpha = [0, 0, -pi / 2, 0, -pi / 2, pi / 2, -pi / 2, -pi / 2, 0, 0, 0] d_var = var('D:9') robo.d = [ 0, 0, d_var[2], d_var[3], d_var[4], 0, 0, d_var[2], d_var[8], d_var[3], -d_var[8] ] robo.theta = [0] + list(var('th1:10')) + [0] robo.r = [0, 0, 0, 0, var('RL4'), 0, 0, 0, 0, 0, 0] robo.b = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] robo.gamma = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, pi / 2] robo.structure = tools.CLOSED_LOOP return robo
def cart_pole(): """Generate Robot instance of classical CartPole dynamic system.""" #TODO: bring it to the new notation with 0-frame robo = Robot('CartPole', 2, 2, 2, False) robo.ant = (-1, 0, 1) robo.sigma = (0, 1, 0) robo.alpha = (0, pi / 2, pi / 2) robo.d = (0, 0, 0) robo.theta = (0, pi / 2, var('th2')) robo.r = (0, var('r1'), 0) robo.b = (0, 0, 0) robo.gamma = (0, 0, 0) robo.structure = tools.SIMPLE robo.num = range(0, 3) robo.Nex = [zeros(3, 1) for i in robo.num] robo.Fex = [zeros(3, 1) for i in robo.num] robo.FS = [0 for i in robo.num] robo.IA = [0 for i in robo.num] robo.FV = [var('FV{0}'.format(i)) for i in robo.num] robo.MS = [zeros(3, 1) for i in robo.num] robo.MS[1][0] = var('MX2') robo.M = [var('M{0}'.format(i)) for i in robo.num] robo.GAM = [var('GAM{0}'.format(i)) for i in robo.num] inertia_matrix_terms = ("XX{0}, XY{0}, XZ{0}, ") + \ ("XY{0}, YY{0}, YZ{0}, ") + \ ("XZ{0}, YZ{0}, ZZ{0}") robo.J = [ Matrix(3, 3, var(inertia_matrix_terms.format(i))) \ for i in robo.num ] robo.G = Matrix([0, 0, -var('G3')]) robo.w0 = zeros(3, 1) robo.wdot0 = zeros(3, 1) robo.v0 = zeros(3, 1) robo.vdot0 = zeros(3, 1) robo.q = [0, var('r1'), var('th2')] robo.qdot = [0, var('r1d'), var('th2d')] robo.qddot = [0, var('r1dd'), var('th2dd')] return robo
def cart_pole(): """Generate Robot instance of classical CartPole dynamic system.""" #TODO: bring it to the new notation with 0-frame robo = Robot() robo.name = 'CartPole' robo.ant = (-1, 0) robo.sigma = (1, 0) robo.alpha = (pi/2, pi/2) robo.d = (0, 0) robo.theta = (pi/2, var('Th2')) robo.r = (var('R1'), 0) robo.b = (0, 0) robo.gamma = (0, 0) robo.num = range(1, 3) robo.NJ = 2 robo.NL = 2 robo.NF = 2 robo.Nex = [zeros(3, 1) for i in robo.num] robo.Fex = [zeros(3, 1) for i in robo.num] robo.FS = [0 for i in robo.num] robo.IA = [0 for i in robo.num] robo.FV = [var('FV{0}'.format(i)) for i in robo.num] robo.MS = [zeros(3, 1) for i in robo.num] robo.MS[1][0] = var('MX2') robo.M = [var('M{0}'.format(i)) for i in robo.num] robo.GAM = [var('GAM{0}'.format(i)) for i in robo.num] robo.J = [zeros(3) for i in robo.num] robo.J[1][2, 2] = var('ZZ2') robo.G = Matrix([0, 0, -var('G3')]) robo.w0 = zeros(3, 1) robo.wdot0 = zeros(3, 1) robo.v0 = zeros(3, 1) robo.vdot0 = zeros(3, 1) robo.q = var('R1, Th2') robo.qdot = var('R1d, Th2d') robo.qddot = var('R1dd, Th2dd') robo.num.append(0) return robo
def cart_pole(): """Generate Robot instance of classical CartPole dynamic system.""" #TODO: bring it to the new notation with 0-frame robo = Robot() robo.name = 'CartPole' robo.ant = (-1, 0) robo.sigma = (1, 0) robo.alpha = (pi / 2, pi / 2) robo.d = (0, 0) robo.theta = (pi / 2, var('Th2')) robo.r = (var('R1'), 0) robo.b = (0, 0) robo.gamma = (0, 0) robo.num = range(1, 3) robo.NJ = 2 robo.NL = 2 robo.NF = 2 robo.Nex = [zeros(3, 1) for i in robo.num] robo.Fex = [zeros(3, 1) for i in robo.num] robo.FS = [0 for i in robo.num] robo.IA = [0 for i in robo.num] robo.FV = [var('FV{0}'.format(i)) for i in robo.num] robo.MS = [zeros(3, 1) for i in robo.num] robo.MS[1][0] = var('MX2') robo.M = [var('M{0}'.format(i)) for i in robo.num] robo.GAM = [var('GAM{0}'.format(i)) for i in robo.num] robo.J = [zeros(3) for i in robo.num] robo.J[1][2, 2] = var('ZZ2') robo.G = Matrix([0, 0, -var('G3')]) robo.w0 = zeros(3, 1) robo.wdot0 = zeros(3, 1) robo.v0 = zeros(3, 1) robo.vdot0 = zeros(3, 1) robo.q = var('R1, Th2') robo.qdot = var('R1d, Th2d') robo.qddot = var('R1dd, Th2dd') robo.num.append(0) return robo