This directory MMS/mdl/arm2d contains a 2D arm model developed by Dimitra Blana in the
laboratory of Bob Kirsch at CWRU.  It is named DAS1 (Dynamic Arm Simulator 1).  The Kirsch
group is using the model with a Simulink interface for real-time simulation.  The
simulink interface can be obtained from the Kirsch lab.  Here we only provide a C/C++
interface (the subfolder "armsim").

Contents:

das1.sd			Input file for SD/Fast, contains bone lengths and mass properties
das1_d.c		C code with equations of motion, generated by SD/Fast
das1_i			Information file, generated by SD/Fast
das1.bio		File with muscle models.
armsim/			Code for C/C++ interface, used in Reinforcement Learning project to simulate environment