<commit_before>"""
Simulator for a two-linkage robotic manipulator.

"""

################################################# DEPENDENCIES

from __future__ import division
import numpy as np

import matplotlib.pyplot as plt
import matplotlib.animation as animation

from control_2link import Controller

################################################# PHYSICAL PARAMETERS

# Simulation duration, timestep, and animation
T = 20  # s
dt = 0.001  # s
framerate = 60  # fps
animate_adapt = True  # should adaptation be shown on animation
outline_path = False  # should path outline be shown on animation

# Initial condition
q = np.deg2rad([-90, 0, 0, 0])  # [rad, rad, rad/s, rad/s]

# Link lengths
L = [1, 0.5]  # m

# Link masses
m = [5, 3]  # kg

# Local gravity
g = 9.81  # m/s^2

# Joint damping
d = [0.05, 0.05]  # (N*m)/(rad/s)

# Joint friction
b = [0, 0]  # N*m
c = [2, 2]  # s/rad

# Actuator limits
umax = [250, 30]  # N*m<commit_msg>DEFAULTS: changed default joint friction<commit_after>"""
Simulator for a two-linkage robotic manipulator.

"""

################################################# DEPENDENCIES

from __future__ import division
import numpy as np

import matplotlib.pyplot as plt
import matplotlib.animation as animation

from control_2link import Controller

################################################# PHYSICAL PARAMETERS

# Simulation duration, timestep, and animation
T = 20  # s
dt = 0.001  # s
framerate = 60  # fps
animate_adapt = True  # should adaptation be shown on animation
outline_path = False  # should path outline be shown on animation

# Initial condition
q = np.deg2rad([-90, 0, 0, 0])  # [rad, rad, rad/s, rad/s]

# Link lengths
L = [1, 0.5]  # m

# Link masses
m = [5, 3]  # kg

# Local gravity
g = 9.81  # m/s^2

# Joint damping
d = [0.05, 0.05]  # (N*m)/(rad/s)

# Joint friction
b = [0.1, 0.1]  # N*m
c = [2, 2]  # s/rad

# Actuator limits
umax = [250, 30]  # N*m
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