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44 lines
2.1 KiB
Python
44 lines
2.1 KiB
Python
#
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# Puma forward dynamics -- 32nm = 32 inputs, high nonlinearity, med noise
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#
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#
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Origin: simulated
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Usage: assessment
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Order: uninformative
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Attributes:
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1 theta1 u [-3.1416,3.1416] # ang position of joint 1 in radians
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2 theta2 u [-3.1416,3.1416] # ang position of joint 2 in radians
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3 theta3 u [-3.1416,3.1416] # ang position of joint 3 in radians
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4 theta4 u [-3.1416,3.1416] # ang position of joint 4 in radians
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5 theta5 u [-3.1416,3.1416] # ang position of joint 5 in radians
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6 theta6 u [-3.1416,3.1416] # ang position of joint 6 in radians
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7 thetad1 u (-Inf,Inf) # ang vel of joint 1 in rad/sec
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8 thetad2 u (-Inf,Inf) # ang vel of joint 2 in rad/sec
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9 thetad3 u (-Inf,Inf) # ang vel of joint 3 in rad/sec
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10 thetad4 u (-Inf,Inf) # ang vel of joint 4 in rad/sec
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11 thetad5 u (-Inf,Inf) # ang vel of joint 5 in rad/sec
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12 thetad6 u (-Inf,Inf) # ang vel of joint 6 in rad/sec
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13 tau1 u (-Inf,Inf) # torque on jt 1
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14 tau2 u (-Inf,Inf) # torque on jt 2
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15 tau3 u (-Inf,Inf) # torque on jt 3
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16 tau4 u (-Inf,Inf) # torque on jt 4
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17 tau5 u (-Inf,Inf) # torque on jt 5
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18 dm1 u [0,Inf) # proportion change in mass of link 1
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19 dm2 u [0,Inf) # prop change in mass of link 2
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20 dm3 u [0,Inf) # prop change in mass of link 3
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21 dm4 u [0,Inf) # prop change in mass of link 4
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22 dm5 u [0,Inf) # prop change in mass of link 5
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23 da1 u [0,Inf) # prop change in length of link 1
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24 da2 u [0,Inf) # prop change in length of link 2
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25 da3 u [0,Inf) # prop change in length of link 3
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26 da4 u [0,Inf) # prop change in length of link 4
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27 da5 u [0,Inf) # prop change in length of link 5
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28 db1 u [0,Inf) # prop change in visc friction of link 1
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29 db2 u [0,Inf) # prop change in visc friction of link 2
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30 db3 u [0,Inf) # prop change in visc friction of link 3
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31 db4 u [0,Inf) # prop change in visc friction of link 4
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32 db5 u [0,Inf) # prop change in visc friction of link 5
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33 thetadd6 u (-Inf,Inf) # ang acceleration of joint 6
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