@Override public boolean isDone(double timeInState) { return timeInState > 1.0 && !humanoidJointPoseList.isDone(); } }
@Override public void doTransitionOutOfAction() { humanoidJointPoseList.next(); }
private void initializeDesiredPositions() HumanoidJointPoseList humanoidJointPoseList = new HumanoidJointPoseList(); humanoidJointPoseList.createCalibrationPose(); SideDependentList<ArrayList<OneDoFJoint>> armJointList = humanoidJointPoseList.getArmJoints(fullRobotModel); SideDependentList<double[]> armJointAngleList = humanoidJointPoseList.getArmJointAngles(); SideDependentList<ArrayList<OneDoFJoint>> legJointList = humanoidJointPoseList.getLegJoints(fullRobotModel); SideDependentList<double[]> legJointAngleList = humanoidJointPoseList.getLegJointAngles(); ArrayList<OneDoFJoint> spineJoints = humanoidJointPoseList.getSpineJoints(fullRobotModel); double[] spineJointAngles = humanoidJointPoseList.getSpineJointAngles();
private void setDesiredPositionsFromPoseList(LinkedHashMap<OneDoFJoint, DoubleYoVariable> positionListToSet) SideDependentList<ArrayList<OneDoFJoint>> armJointList = humanoidJointPoseList.getArmJoints(fullRobotModel); SideDependentList<double[]> armJointAngleList = humanoidJointPoseList.getArmJointAngles(); SideDependentList<ArrayList<OneDoFJoint>> legJointList = humanoidJointPoseList.getLegJoints(fullRobotModel); SideDependentList<double[]> legJointAngleList = humanoidJointPoseList.getLegJointAngles(); ArrayList<OneDoFJoint> spineJoints = humanoidJointPoseList.getSpineJoints(fullRobotModel); double[] spineJointAngles = humanoidJointPoseList.getSpineJointAngles();
DRCRobotInitialSetup<HumanoidFloatingRootJointRobot> robotInitialSetup = robotModel.getDefaultRobotInitialSetup(groundHeight, initialYaw); HumanoidJointPoseList humanoidJointPoseList = new HumanoidJointPoseList(); humanoidJointPoseList.createPoseSettersJustLegs();
DRCRobotInitialSetup<HumanoidFloatingRootJointRobot> robotInitialSetup = new ValkyrieInitialSetup(groundZ, initialYaw); HumanoidJointPoseList humanoidJointPoseList = new HumanoidJointPoseList(); humanoidJointPoseList.createPoseSettersJustArms();
public SideDependentList<ArrayList<OneDoFJoint>> getArmJoints(FullHumanoidRobotModel fullRobotModel) { SideDependentList<ArrayList<OneDoFJoint>> ret = new SideDependentList<ArrayList<OneDoFJoint>>(); for (RobotSide robotSide : RobotSide.values) { ArrayList<OneDoFJoint> armJoints = new ArrayList<OneDoFJoint>(); addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.SHOULDER_PITCH)); addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.SHOULDER_ROLL)); addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.SHOULDER_YAW)); addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.ELBOW_PITCH)); ret.set(robotSide, armJoints); } return ret; }
private void setDesiredPositionsFromPoseList(LinkedHashMap<OneDoFJointBasics, YoDouble> positionListToSet) SideDependentList<ArrayList<OneDoFJointBasics>> armJointList = humanoidJointPoseList.getArmJoints(fullRobotModel); SideDependentList<double[]> armJointAngleList = humanoidJointPoseList.getArmJointAngles(); SideDependentList<ArrayList<OneDoFJointBasics>> legJointList = humanoidJointPoseList.getLegJoints(fullRobotModel); SideDependentList<double[]> legJointAngleList = humanoidJointPoseList.getLegJointAngles(); ArrayList<OneDoFJointBasics> spineJoints = humanoidJointPoseList.getSpineJoints(fullRobotModel); double[] spineJointAngles = humanoidJointPoseList.getSpineJointAngles();
controllerFactory.setInitialState(highLevelControllerParameters.getDefaultInitialControllerState()); HumanoidJointPoseList humanoidJointPoseList = new HumanoidJointPoseList(); humanoidJointPoseList.createPoseSettersJustLegs();
public SideDependentList<ArrayList<OneDoFJointBasics>> getArmJoints(FullHumanoidRobotModel fullRobotModel) { SideDependentList<ArrayList<OneDoFJointBasics>> ret = new SideDependentList<ArrayList<OneDoFJointBasics>>(); for (RobotSide robotSide : RobotSide.values) { ArrayList<OneDoFJointBasics> armJoints = new ArrayList<OneDoFJointBasics>(); addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.SHOULDER_PITCH)); addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.SHOULDER_ROLL)); addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.SHOULDER_YAW)); addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.ELBOW_PITCH)); ret.set(robotSide, armJoints); } return ret; }
controllerFactory.setInitialState(highLevelControllerParameters.getDefaultInitialControllerState()); HumanoidJointPoseList humanoidJointPoseList = new HumanoidJointPoseList(); humanoidJointPoseList.createPoseSettersJustLegs();
@Override public void doAction(double timeInState) { if (timeInState > 1.0) { if (humanoidJointPoseList.isDone()) finishedDiagnostics.set(true); } }
@Override public void onExit() { humanoidJointPoseList.next(); }
@Override public void doAction() { if (stateMachine.timeInCurrentState() > 1.0) { if (!humanoidJointPoseList.isDone()) this.transitionToDefaultNextState(); else finishedDiagnostics.set(true); } }