Build a Plant#

This tutorial goes over the Plant class. First, it illustrates how to build a custom plant from scratch using the available Plant base class. Then, we go over a pre-built subclass of Plant, which also illustrates how to build a Plant object that does not abide by the geometry calculation method of the original class. Finally, we look at numerical integration and the associated parameters we can choose to configure it. In MotorNet, numerical integration is fully handled at the Plant level.

Structure of the tutorial

I. Build a basic plant with muscle wrappings
II. A more complex plant system: arm210

1. Building the plant

2. Visualizing moment arms

3. Visualizing muscle lengths

III. Using a pre-built Plant subclasses

1. Moment arms and muscle lengths

2. Example of drift from passive forces in Hill-type muscles

IV. Numerical integration