public UniversalJointRobot(String name, double initialQFirstJoint, double initialQdFirstJoint, double initialQSecondJoint, double initialQdSecondJoint) { super(name); universalJoint = new UniversalJoint(name + "Joint1", name + "Joint2", new Vector3D(), this, Axis.X, Axis.Y); Link link = new Link(name + "Link"); link.setMass(mass); link.setComOffset(0.0, 0.0, -length); universalJoint.setLink(link); universalJoint.getFirstJoint().setInitialState(initialQFirstJoint, initialQdFirstJoint); universalJoint.getSecondJoint().setInitialState(initialQSecondJoint, initialQdSecondJoint); addRootJoint(universalJoint); }
currentJoint.setInitialState(jointPosition, jointVelocity); RigidBodyBasics inverseDynamicsParentBody; if (potentialParentJoints.isEmpty())
private Robot createSimpleRobotOne(String name) { Robot robot = new Robot(name); PinJoint joint1 = new PinJoint("joint", new Vector3D(0.0, 0.0, 0.0), robot, Axis.Y); Link link1 = link1(); joint1.setLink(link1); robot.addRootJoint(joint1); joint1.setInitialState(0.11, 0.22); joint1.setTau(33.3); return robot; }
private Robot createSimpleRobotTwo(String name) { Robot robot = new Robot(name); PinJoint joint2 = new PinJoint("joint", new Vector3D(0.0, 0.0, 0.0), robot, Axis.Y); Link link2 = link2(); joint2.setLink(link2); robot.addRootJoint(joint2); joint2.setInitialState(0.11, 0.22); joint2.setTau(33.3); return robot; }
currentJoint.setInitialState(jointPosition, jointVelocity); if (previousJoint == null) robot.addRootJoint(currentJoint);
joint1.setInitialState(0.11, 0.33); joint2.setInitialState(0.15, 0.34); joint1.setTau(7.7); joint2.setTau(4.0); joint1B.setInitialState(0.11, 0.33); joint2B.setInitialState(0.15, 0.34); joint1B.setTau(7.7); joint2B.setTau(4.0);