@Override public void mutateModelWithAdditions(GeneralizedSDFRobotModel model) { if (this.jointMap.getModelName().equals(model.getName())) { } }
public SDFModelVisual(GeneralizedSDFRobotModel generalizedSDFRobotModel, boolean useCollisionMeshes) { resourceDirectories = generalizedSDFRobotModel.getResourceDirectories(); ArrayList<SDFLinkHolder> rootLinks = generalizedSDFRobotModel.getRootLinks(); RigidBodyTransform modelTransform = generalizedSDFRobotModel.getTransformToRoot(); for(SDFLinkHolder link : rootLinks) { recursivelyAddLinks(link, modelTransform, useCollisionMeshes); } }
public void addContactSensor(JointNameMap jointMap, String sensorName, String parentJointName, ContactSensorType type) { generalizedSDFRobotModels.get(jointMap.getModelName()).addContactSensor(sensorName, parentJointName, type); }
private RobotDescription loadModelFromSDF(GeneralizedSDFRobotModel generalizedSDFRobotModel, JointNameMap jointNameMap, boolean useCollisionMeshes) String name = generalizedSDFRobotModel.getName(); RobotDescription robotDescription = new RobotDescription(name); ArrayList<SDFLinkHolder> rootLinks = generalizedSDFRobotModel.getRootLinks(); generalizedSDFRobotModel.getTransformToRoot().get(orientation, offset); FloatingJointDescription rootJointDescription = new FloatingJointDescription(rootLink.getName());
public SDFCollisionBoxProvider(JaxbSDFLoader loader, String modelName) { GeneralizedSDFRobotModel model = loader.getGeneralizedSDFRobotModel(modelName); SDFLinkHolder rootLink = model.getRootLinks().get(0); recursivelyAddLinks(rootLink.getName(), rootLink); }
public void addForceSensor(JointNameMap jointMap, String sensorName, String parentJointName, RigidBodyTransform transformToParentJoint) { generalizedSDFRobotModels.get(jointMap.getModelName()).addForceSensor(sensorName, parentJointName, transformToParentJoint); }
public JaxbSDFLoader(InputStream inputStream, List<String> resourceDirectories, SDFDescriptionMutator mutator) throws JAXBException, FileNotFoundException { if (inputStream == null) { throw new RuntimeException("inputStream is null"); } JAXBContext context = JAXBContext.newInstance(SDFRoot.class); Unmarshaller um = context.createUnmarshaller(); SDFRoot sdfRoot = (SDFRoot) um.unmarshal(inputStream); List<SDFModel> models; if (sdfRoot.getWorld() != null) { models = sdfRoot.getWorld().getModels(); if (sdfRoot.getWorld().getRoads() != null) { roads.addAll(sdfRoot.getWorld().getRoads()); } } else { models = sdfRoot.getModels(); } for (SDFModel modelInstance : models) { final String modelName = modelInstance.getName(); generalizedSDFRobotModels.put(modelName, new GeneralizedSDFRobotModel(modelName, modelInstance, resourceDirectories, mutator)); } }
ArrayList<SDFLinkHolder> links = model.getRootLinks(); System.out.println(model.getName()); for ( SDFLinkHolder link : links ) RigidBodyTransform transformToModel = new RigidBodyTransform(model.getTransformToRoot()); transformToModel.multiply(link.getTransformFromModelReferenceFrame()); transformToModel.multiply(ModelFileLoaderConversionsHelper.poseToTransform(col.getPose()));
public SDFCollisionBoxProvider(JaxbSDFLoader loader, String modelName) { GeneralizedSDFRobotModel model = loader.getGeneralizedSDFRobotModel(modelName); SDFLinkHolder rootLink = model.getRootLinks().get(0); recursivelyAddLinks(rootLink.getName(), rootLink); }
@Override public void mutateContactSensorForModel(GeneralizedSDFRobotModel model, SDFContactSensor contactSensor) { if(this.jointMap.getModelName().equals(model.getName())) { } }
public void setupContactPointsFromRobotModel(GeneralizedSDFRobotModel sdf, boolean removeExistingContacts) { if (removeExistingContacts) clearSimulationContactPoints(); for (SDFLinkHolder link : sdf.getRootLinks()) { for (SDFJointHolder joint : link.getChildren()) { checkJointChildren(joint); } } for (RobotSide robotSide : RobotSide.values) { if (!footGroundContactPoints.get(robotSide).isEmpty()) { clearControllerFootContactPoints(); setControllerFootContactPoint(robotSide, footGroundContactPoints.get(robotSide)); } } } }
@Override public void mutateJointForModel(GeneralizedSDFRobotModel model, SDFJointHolder jointHolder) { if (this.jointMap.getModelName().equals(model.getName())) { } }
public void setupContactPointsFromRobotModel(GeneralizedSDFRobotModel sdf, boolean removeExistingContacts) { if (removeExistingContacts) clearSimulationContactPoints(); for (SDFLinkHolder link : sdf.getRootLinks()) { for (SDFJointHolder joint : link.getChildren()) { checkJointChildren(joint); } } for (RobotSide robotSide : RobotSide.values) { if (!footGroundContactPoints.get(robotSide).isEmpty()) { clearControllerFootContactPoints(); setControllerFootContactPoint(robotSide, footGroundContactPoints.get(robotSide)); } } } }
@Override public void mutateSensorForModel(GeneralizedSDFRobotModel model, SDFSensor sensor) { if (this.jointMap.getModelName().equals(model.getName())) { } }
@Override public void mutateModelWithAdditions(GeneralizedSDFRobotModel model) { if(this.jointMap.getModelName().equals(model.getName())) { } }
@Override public void mutateJointForModel(GeneralizedSDFRobotModel model, SDFJointHolder jointHolder) { if(this.jointMap.getModelName().equals(model.getName())) { } }
@Override public void mutateSensorForModel(GeneralizedSDFRobotModel model, SDFSensor sensor) { if(this.jointMap.getModelName().equals(model.getName())) { } }
@Override public void mutateForceSensorForModel(GeneralizedSDFRobotModel model, SDFForceSensor forceSensor) { if(this.jointMap.getModelName().equals(model.getName())) { } }
@Override public void mutateContactSensorForModel(GeneralizedSDFRobotModel model, SDFContactSensor contactSensor) { if (this.jointMap.getModelName().equals(model.getName())) { } }
@Override public void mutateForceSensorForModel(GeneralizedSDFRobotModel model, SDFForceSensor forceSensor) { if (this.jointMap.getModelName().equals(model.getName())) { } }