@Override public void doControl() { super.doControl(); for (RobotSide robotSide : RobotSide.values()) { if (footTouchedDown(robotSide)) { startSlipping(robotSide); } else { stopSlipping(robotSide); } } }
private OscillateFeetPerturber generateFeetPertuber(final SimulationConstructionSet simulationConstructionSet, HumanoidFloatingRootJointRobot robot, int ticksPerPerturbation) { OscillateFeetPerturber oscillateFeetPerturber = new OscillateFeetPerturber(robot, simulationConstructionSet.getDT() * (ticksPerPerturbation)); oscillateFeetPerturber.setTranslationMagnitude(new double[] { 0.008, 0.012, 0.005 }); oscillateFeetPerturber.setRotationMagnitudeYawPitchRoll(new double[] { 0.010, 0.06, 0.010 }); oscillateFeetPerturber.setTranslationFrequencyHz(RobotSide.LEFT, new double[] { 1.0, 2.5, 3.3 }); oscillateFeetPerturber.setTranslationFrequencyHz(RobotSide.RIGHT, new double[] { 2.0, 0.5, 1.3 }); oscillateFeetPerturber.setRotationFrequencyHzYawPitchRoll(RobotSide.LEFT, new double[] { 5.0, 0.5, 0.3 }); oscillateFeetPerturber.setRotationFrequencyHzYawPitchRoll(RobotSide.RIGHT, new double[] { 0.2, 3.4, 1.11 }); return oscillateFeetPerturber; }
this.addRobotController(leftSlipper); this.addRobotController(rightSlipper);
this.addRobotController(leftSlipper); this.addRobotController(rightSlipper);
OscillateFeetPerturber oscillateFeetPerturber = new OscillateFeetPerturber(robot, simulationConstructionSet.getDT() * (ticksPerPerturbation)); oscillateFeetPerturber.setTranslationMagnitude(new double[] {0.01, 0.015, 0.005}); oscillateFeetPerturber.setRotationMagnitudeYawPitchRoll(new double[] {0.017, 0.012, 0.011}); oscillateFeetPerturber.setTranslationFrequencyHz(RobotSide.LEFT, new double[] {5.0, 2.5, 3.3}); oscillateFeetPerturber.setTranslationFrequencyHz(RobotSide.RIGHT, new double[] {2.0, 6.5, 1.3}); oscillateFeetPerturber.setRotationFrequencyHzYawPitchRoll(RobotSide.LEFT, new double[] {5.0, 0.5, 7.3}); oscillateFeetPerturber.setRotationFrequencyHzYawPitchRoll(RobotSide.RIGHT, new double[] {0.2, 3.4, 1.11});
@Override public void doControl() { super.doControl(); for (RobotSide robotSide : RobotSide.values()) { if (footTouchedDown(robotSide)) { startSlipping(robotSide); } else { stopSlipping(robotSide); } } }
OscillateFeetPerturber oscillateFeetPerturber = new OscillateFeetPerturber(robot, simulationConstructionSet.getDT() * (ticksPerPerturbation)); oscillateFeetPerturber.setTranslationMagnitude(new double[] {0.008, 0.011, 0.004}); oscillateFeetPerturber.setRotationMagnitudeYawPitchRoll(new double[] {0.012, 0.047, 0.009}); oscillateFeetPerturber.setTranslationFrequencyHz(RobotSide.LEFT, new double[] {1.0, 2.5, 3.3}); oscillateFeetPerturber.setTranslationFrequencyHz(RobotSide.RIGHT, new double[] {2.0, 0.5, 1.3}); oscillateFeetPerturber.setRotationFrequencyHzYawPitchRoll(RobotSide.LEFT, new double[] {5.0, 0.5, 0.3}); oscillateFeetPerturber.setRotationFrequencyHzYawPitchRoll(RobotSide.RIGHT, new double[] {0.2, 3.4, 1.11});