public GeneralizedSDFRobotModel getGeneralizedRobotModelAndRemoveFromWorld(String modelName) { removeVisualFromWorld(modelName); return jaxbSDFLoader.getGeneralizedSDFRobotModel(modelName); }
private static GeneralizedSDFRobotModel loadSDFFile(String modelName, InputStream inputStream, List<String> resourceDirectories, SDFDescriptionMutator mutator) { GeneralizedSDFRobotModel generalizedSDFRobotModel = null; try { JaxbSDFLoader loader = new JaxbSDFLoader(inputStream, resourceDirectories, mutator); generalizedSDFRobotModel = loader.getGeneralizedSDFRobotModel(modelName); // resourceDirectories = generalizedSDFRobotModel.getResourceDirectories(); } catch (FileNotFoundException | JAXBException e) { throw new RuntimeException("Cannot load model", e); } return generalizedSDFRobotModel; }
public SDFWorldLoader(InputStream inputStream, List<String> resourceDirectories) throws FileNotFoundException, JAXBException { jaxbSDFLoader = new JaxbSDFLoader(inputStream, resourceDirectories, null); for (GeneralizedSDFRobotModel generalizedSDFRobotModel : jaxbSDFLoader.getGeneralizedSDFRobotModels()) { String name = generalizedSDFRobotModel.getName(); visuals.put(name, new SDFModelVisual(generalizedSDFRobotModel)); } for (Road road : jaxbSDFLoader.getRoads()) { visuals.put(road.getName(), new SDFRoadVisual(road)); } }
public static JaxbSDFLoader loadDRCRobot(String[] resourceDirectories, InputStream sdfFile, SDFDescriptionMutator descriptionMutator) { ArrayList<String> resources = new ArrayList<String>(); for(String resource : resourceDirectories) { resources.add(resource); } if(sdfFile==null) { System.err.println("failed to load sdf file"); } JaxbSDFLoader jaxbSDFLoader; try { jaxbSDFLoader = new JaxbSDFLoader(sdfFile, resources, descriptionMutator); } catch (FileNotFoundException e) { throw new RuntimeException("Cannot find SDF file: " + e.getMessage()); } catch (JAXBException e) { e.printStackTrace(); throw new RuntimeException("Invalid SDF file: " + e.getMessage()); } return jaxbSDFLoader; }
loader.addForceSensor(jointMap, forceSensorNames, forceSensorNames, transform); loader.addContactSensor(jointMap,sensorName, parentJointName, ThorSensorInformation.contactSensors.get(side).get(parentJointName).get(sensorName));
public WandererRobotModel(boolean runningOnRealRobot, boolean headless) { this.runningOnRealRobot = runningOnRealRobot; sensorInformation = new WandererSensorInformation(); this.loader = DRCRobotSDFLoader.loadDRCRobot(getResourceDirectories(), getSdfFileAsStream(), null); for (String forceSensorNames : getSensorInformation().getForceSensorNames()) { loader.addForceSensor(jointMap, forceSensorNames, forceSensorNames, new RigidBodyTransform()); } capturePointPlannerParameters = new WandererCapturePointPlannerParameters(runningOnRealRobot); walkingControllerParameters = new WandererWalkingControllerParameters(jointMap, runningOnRealRobot); highLevelControllerParameters = new WandererHighLevelControllerParameters(jointMap); robotDescription = createRobotDescription(); }
try return new JaxbSDFLoader(is, Arrays.asList(resourceDirectories), descriptionMutator);
loader.addForceSensor(jointMap, forceSensorNames, forceSensorNames, transform); loader.addContactSensor(jointMap, sensorName, parentJointName, ValkyrieSensorInformation.contactSensors.get(side).get(parentJointName).get(sensorName));
public BonoRobotModel(boolean runningOnRealRobot, boolean headless) { this.runningOnRealRobot = runningOnRealRobot; sensorInformation = new BonoSensorInformation(); this.loader = DRCRobotSDFLoader.loadDRCRobot(getResourceDirectories(), getSdfFileAsStream(), null); for (String forceSensorNames : getSensorInformation().getForceSensorNames()) { loader.addForceSensor(jointMap, forceSensorNames, forceSensorNames, new RigidBodyTransform()); } capturePointPlannerParameters = new BonoCapturePointPlannerParameters(runningOnRealRobot); walkingControllerParameters = new BonoWalkingControllerParameters(jointMap, runningOnRealRobot); highLevelControllerParameters = new BonoHighLevelControllerParameters(jointMap); robotDescription = createRobotDescription(); }
public GeneralizedSDFRobotModel getGeneralizedRobotModelAndRemoveFromWorld(String modelName) { removeVisualFromWorld(modelName); return jaxbSDFLoader.getGeneralizedSDFRobotModel(modelName); }
public SDFModelVisual loadDRCVehicle(boolean loadCollisionModel) { ArrayList<String> resourceDirectories = new ArrayList<String>(); resourceDirectories.add("models/"); resourceDirectories.add("models/gazebo/"); InputStream inputStream = DRCVehicleSDFLoader.class.getClassLoader().getResourceAsStream("models/polaris_ranger_xp900_no_roll_cage/model.sdf"); try { JaxbSDFLoader jaxbSDFLoader = new JaxbSDFLoader(inputStream, resourceDirectories, null); GeneralizedSDFRobotModel generalizedSDFRobotModel = jaxbSDFLoader.getGeneralizedSDFRobotModel("polaris_ranger_xp900"); return new SDFModelVisual(generalizedSDFRobotModel, loadCollisionModel); } catch (FileNotFoundException e) { throw new RuntimeException(e); } catch (JAXBException e) { throw new RuntimeException(e); } }
public SDFWorldLoader(InputStream inputStream, List<String> resourceDirectories) throws FileNotFoundException, JAXBException { jaxbSDFLoader = new JaxbSDFLoader(inputStream, resourceDirectories, null); for (GeneralizedSDFRobotModel generalizedSDFRobotModel : jaxbSDFLoader.getGeneralizedSDFRobotModels()) { String name = generalizedSDFRobotModel.getName(); visuals.put(name, new SDFModelVisual(generalizedSDFRobotModel)); } for (Road road : jaxbSDFLoader.getRoads()) { visuals.put(road.getName(), new SDFRoadVisual(road)); } }
try return new JaxbSDFLoader(is, Arrays.asList(resourceDirectories), descriptionMutator);
public GeneralizedSDFRobotModel getGeneralizedRobotModel() { return loader.getGeneralizedSDFRobotModel(getJointMap().getModelName()); }
public SDFModelVisual loadDRCVehicle(boolean loadCollisionModel) { ArrayList<String> resourceDirectories = new ArrayList<String>(); resourceDirectories.add("models/"); resourceDirectories.add("models/gazebo/"); InputStream inputStream = DRCVehicleSDFLoader.class.getClassLoader().getResourceAsStream("models/polaris_ranger_xp900_no_roll_cage/model.sdf"); try { JaxbSDFLoader jaxbSDFLoader = new JaxbSDFLoader(inputStream, resourceDirectories, null); GeneralizedSDFRobotModel generalizedSDFRobotModel = jaxbSDFLoader.getGeneralizedSDFRobotModel("polaris_ranger_xp900"); return new SDFModelVisual(generalizedSDFRobotModel, loadCollisionModel); } catch (FileNotFoundException e) { throw new RuntimeException(e); } catch (JAXBException e) { throw new RuntimeException(e); } }
private GeneralizedSDFRobotModel getGeneralizedRobotModel() { return loader.getGeneralizedSDFRobotModel(getJointMap().getModelName()); }
public LLAQuadrupedModelFactory() { jointMap = new LLAQuadrupedJointNameMap(new LLAQuadrupedPhysicalProperties()); try { InputStream sdfAsInputStream = sdfParameters.getSdfAsInputStream(); loader = new JaxbSDFLoader(sdfAsInputStream, sdfParameters.getResourceDirectories(), null); generalizedSDFRobotModel = loader.getGeneralizedSDFRobotModel(sdfParameters.getSdfModelName()); } catch (FileNotFoundException fileNotFoundException) { PrintTools.error(this, FileNotFoundException.class.getSimpleName() + ": " + fileNotFoundException.getMessage()); throw new RuntimeException("Unrecoverable error."); } catch (JAXBException jaxbException) { PrintTools.error(this, JAXBException.class.getSimpleName() + ": " + jaxbException.getMessage()); throw new RuntimeException("Unrecoverable error."); } boolean useCollisionMeshes = false; GeneralizedSDFRobotModel generalizedSDFRobotModel = getGeneralizedRobotModel(); RobotDescriptionFromSDFLoader loader = new RobotDescriptionFromSDFLoader(); robotDescription = loader.loadRobotDescriptionFromSDF(generalizedSDFRobotModel, jointMap, useCollisionMeshes); }
private GeneralizedSDFRobotModel getGeneralizedRobotModel() { return loader.getGeneralizedSDFRobotModel(getJointMap().getModelName()); }
public LLAQuadrupedModelFactory() { jointMapAndContactInfo = new LLAQuadrupedJointNameMapAndContactDefinition(new LLAQuadrupedPhysicalProperties()); try { InputStream sdfAsInputStream = sdfParameters.getSdfAsInputStream(); loader = new JaxbSDFLoader(sdfAsInputStream, sdfParameters.getResourceDirectories(), null); generalizedSDFRobotModel = loader.getGeneralizedSDFRobotModel(sdfParameters.getSdfModelName()); } catch (FileNotFoundException fileNotFoundException) { PrintTools.error(this, FileNotFoundException.class.getSimpleName() + ": " + fileNotFoundException.getMessage()); throw new RuntimeException("Unrecoverable error."); } catch (JAXBException jaxbException) { PrintTools.error(this, JAXBException.class.getSimpleName() + ": " + jaxbException.getMessage()); throw new RuntimeException("Unrecoverable error."); } boolean useCollisionMeshes = false; GeneralizedSDFRobotModel generalizedSDFRobotModel = getGeneralizedRobotModel(); RobotDescriptionFromSDFLoader loader = new RobotDescriptionFromSDFLoader(); robotDescription = loader.loadRobotDescriptionFromSDF(generalizedSDFRobotModel, jointMapAndContactInfo, jointMapAndContactInfo, useCollisionMeshes); }
public GeneralizedSDFRobotModel getGeneralizedRobotModel() { return loader.getGeneralizedSDFRobotModel(getJointMap().getModelName()); }