Go to the documentation of this file.00001
00002 from three_link_planar_common import *
00003
00004 bod_shapes = ['capsule', 'capsule', 'capsule']
00005
00006 dia = 0.03
00007 bod_dimensions = [[dia, dia, torso_half_width], [dia, dia, upper_arm_length],
00008 [dia, dia, forearm_length-dia/2]]
00009
00010 bod_com_position = [[0., -torso_half_width/2., height],
00011 [0., -torso_half_width-upper_arm_length/2., height],
00012 [0., -torso_half_width-upper_arm_length-forearm_length/2.+dia/4, height]]
00013
00014 bodies ={'shapes':bod_shapes, 'dim':bod_dimensions, 'num_links':bod_num_links,
00015 'com_pos':bod_com_position, 'mass':bod_mass, 'name':bod_names, 'color':bod_color}
00016