public void initializeRobot(Robot robot, DRCRobotModel robotModel, YoGraphicsListRegistry yoGraphicsListRegistry) { robot.setGravity(gravity); LinearGroundContactModel groundContactModel = new LinearGroundContactModel(robot, robot.getRobotsYoVariableRegistry()); robotModel.getContactPointParameters().setupGroundContactModelParameters(groundContactModel); // if ((commonTerrain.getSteppingStones() != null) && (yoGraphicsListRegistry != null)) // commonTerrain.registerSteppingStonesArtifact(yoGraphicsListRegistry); // groundContactModel.setGroundProfile(commonTerrain.getGroundProfile()); if (groundProfile3D != null) groundContactModel.setGroundProfile3D(groundProfile3D); // TODO: change this to scs.setGroundContactModel(groundContactModel); robot.setGroundContactModel(groundContactModel); }
public void initializeRobot(Robot robot, DRCRobotModel robotModel, YoGraphicsListRegistry yoGraphicsListRegistry) { robot.setGravity(gravity); LinearGroundContactModel groundContactModel = new LinearGroundContactModel(robot, robot.getRobotsYoVariableRegistry()); robotModel.getContactPointParameters().setupGroundContactModelParameters(groundContactModel); // if ((commonTerrain.getSteppingStones() != null) && (yoGraphicsListRegistry != null)) // commonTerrain.registerSteppingStonesArtifact(yoGraphicsListRegistry); // groundContactModel.setGroundProfile(commonTerrain.getGroundProfile()); if (groundProfile3D != null) groundContactModel.setGroundProfile3D(groundProfile3D); // TODO: change this to scs.setGroundContactModel(groundContactModel); robot.setGroundContactModel(groundContactModel); }
public void initializeRobot(Robot robot, DRCRobotModel robotModel, YoGraphicsListRegistry yoGraphicsListRegistry) { robot.setGravity(gravity); LinearGroundContactModel groundContactModel = new LinearGroundContactModel(robot, robot.getRobotsYoVariableRegistry()); robotModel.getContactPointParameters().setupGroundContactModelParameters(groundContactModel, simulateDT); if (enableGroundSlipping) groundContactModel.enableSlipping(); if (Double.isFinite(groundAlphaStick) && Double.isFinite(groundAlphaSlip)) groundContactModel.setAlphaStickSlip(groundAlphaStick, groundAlphaSlip); if (groundProfile3D != null) groundContactModel.setGroundProfile3D(groundProfile3D); robot.setGroundContactModel(groundContactModel); }
public FootstepVisualizer(GroundProfile3D groundProfile, Graphics3DObject linkGraphics, int maxNumberOfFootstepsPerSide, int maxContactPointsPerFoot, String description) { nullRobot = new Robot("FootstepVisualizerRobot"); if (groundProfile != null) { GroundContactModel gcModel = new LinearGroundContactModel(nullRobot, nullRobot.getRobotsYoVariableRegistry()); gcModel.setGroundProfile3D(groundProfile); nullRobot.setGroundContactModel(gcModel); } scs = new SimulationConstructionSet(nullRobot); if (linkGraphics != null) { scs.setGroundVisible(false); scs.addStaticLinkGraphics(linkGraphics); } printifdebug("Attaching exit listener"); scs.setDT(1, 1); yoGraphicsListRegistry = new YoGraphicsListRegistry(); bagOfSingleFootstepVisualizers = new BagOfSingleFootstepVisualizers(maxNumberOfFootstepsPerSide, maxContactPointsPerFoot, registry, yoGraphicsListRegistry); addText(scs, yoGraphicsListRegistry, description); }
public FootstepVisualizer(GroundProfile3D groundProfile, Graphics3DObject linkGraphics, int maxNumberOfFootstepsPerSide, int maxContactPointsPerFoot, String description) { nullRobot = new Robot("FootstepVisualizerRobot"); if (groundProfile != null) { GroundContactModel gcModel = new LinearGroundContactModel(nullRobot, nullRobot.getRobotsYoVariableRegistry()); gcModel.setGroundProfile3D(groundProfile); nullRobot.setGroundContactModel(gcModel); } scs = new SimulationConstructionSet(nullRobot); if (linkGraphics != null) { scs.setGroundVisible(false); scs.addStaticLinkGraphics(linkGraphics); } printifdebug("Attaching exit listener"); scs.setDT(1, 1); yoGraphicsListRegistry = new YoGraphicsListRegistry(); bagOfSingleFootstepVisualizers = new BagOfSingleFootstepVisualizers(maxNumberOfFootstepsPerSide, maxContactPointsPerFoot, registry, yoGraphicsListRegistry); addText(scs, yoGraphicsListRegistry, description); }
robot.setGroundContactModel(groundContactModel); robot.setDynamicIntegrationMethod(DynamicIntegrationMethod.EULER_DOUBLE_STEPS); JMEGraphics3DAdapter graphicsAdapter = new JMEGraphics3DAdapter();
robot.setGroundContactModel(groundContactModel); robot.setDynamicIntegrationMethod(DynamicIntegrationMethod.EULER_DOUBLE_STEPS);
robot.setGroundContactModel(groundContactModel); robot.setDynamicIntegrationMethod(DynamicIntegrationMethod.EULER_DOUBLE_STEPS);
robot.setGroundContactModel(groundContactModel); robot.setDynamicIntegrationMethod(DynamicIntegrationMethod.EULER_DOUBLE_STEPS);
groundModel.setGroundProfile3D(groundProfile); robot.setGroundContactModel(groundModel);