ActivitiesFirefox Web BrowserDec 18 09:09 •Assignment Dynamics (# X+https://courseworks2.columbia.edu/courses/119049/assignments/5618905…lilpython run.py –guiYou should see two robots. The blue one is our example robot. The red one is running your dynamicsengine. At start, your code is still unimplemented, thus the red robot will simply sit in place.OYour codeAccount02You must fill in the function “dynamics_step(…)” in the file “arm_dynamics_student.py”. You are free tobreak your implementation down into more sub-functions as you see fit. Do not modify any files otherthan “arm_dynamics_student.py”. Feel free to also look at arm_dynamics_base.py and robot.py if you wantto get a better sense of what is going on.Dashboard團My Coursesrun.py applies a given torque to the first joint of the robot, causing it to rotate counter-clockwise. After 8s, that torque is removed, causing the robot to fall back down. This script also takes in numerouscommand-line arguments, some of which we discuss below. Feel free to look inside to see what thesearguments are, and to experiment with them.Courses一旦論?Testing your codeCalendarWe will test your code on 1-link, 2-link and 3-link robots. In particular, use the following commands totest:EDInboxpython run.py –num_links 1 –time_step 0.01 — friction 0.2 –time_limit 20 –guiHistorypython run.py –num_links 2 –time_step 0.01 –friction 0.4 –time_limit 20 –guiHelppython run.py –num_links 3 –time_step 0.01 — friction 0.6 –time_limit 20 –guiThe blue and red robot should stay generally together; small divergences are allowed, particularly at highvelocity movements. However, especially when the robots have settled to an equilibrium state, their posesshould match.Of course, the code allows for endless experimentation. Feel free to checkout what happens for all kindsof robot lengths, time step sizes, torques applied, friction coefficients, etc.! Grading KRun the grading script as follows:
