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); }
robot.getRobotsYoVariableRegistry()); groundContactModel.setGroundProfile3D(groundProfile3D);
robot.getRobotsYoVariableRegistry()); groundContactModel.setGroundProfile3D(groundProfile3D);
robot.getRobotsYoVariableRegistry()); groundContactModel.setGroundProfile3D(groundProfile3D);
robot.getRobotsYoVariableRegistry()); groundContactModel.setGroundProfile3D(groundProfile3D);
ballGCModel.setGroundProfile3D(terrain); ballRobot.setGroundContactModel(ballGCModel); ballRobot.setPosition(centerX, centerY, 0.8 + ballRadius + 0.1);
groundContactModel.setXYStiffness(groundContactParameters.get().getXYStiffness()); groundContactModel.setXYDamping(groundContactParameters.get().getXYDamping()); groundContactModel.setGroundProfile3D(groundProfile3D);