public SDFCollisionBoxProvider(JaxbSDFLoader loader, String modelName) { GeneralizedSDFRobotModel model = loader.getGeneralizedSDFRobotModel(modelName); SDFLinkHolder rootLink = model.getRootLinks().get(0); recursivelyAddLinks(rootLink.getName(), rootLink); }
public SDFCollisionBoxProvider(JaxbSDFLoader loader, String modelName) { GeneralizedSDFRobotModel model = loader.getGeneralizedSDFRobotModel(modelName); SDFLinkHolder rootLink = model.getRootLinks().get(0); recursivelyAddLinks(rootLink.getName(), rootLink); }
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 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)); } } } }
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)); } } } }
RobotDescription robotDescription = new RobotDescription(name); ArrayList<SDFLinkHolder> rootLinks = generalizedSDFRobotModel.getRootLinks();
ArrayList<SDFLinkHolder> links = model.getRootLinks(); System.out.println(model.getName()); for ( SDFLinkHolder link : links )