public GeneralizedSDFRobotModel getGeneralizedRobotModelAndRemoveFromWorld(String modelName) { removeVisualFromWorld(modelName); return jaxbSDFLoader.getGeneralizedSDFRobotModel(modelName); }
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 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 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 GeneralizedSDFRobotModel getGeneralizedRobotModel() { return loader.getGeneralizedSDFRobotModel(getJointMap().getModelName()); }
private GeneralizedSDFRobotModel getGeneralizedRobotModel() { return loader.getGeneralizedSDFRobotModel(getJointMap().getModelName()); }
public GeneralizedSDFRobotModel getGeneralizedRobotModel() { return loader.getGeneralizedSDFRobotModel(getJointMap().getModelName()); }
private GeneralizedSDFRobotModel getGeneralizedRobotModel() { return loader.getGeneralizedSDFRobotModel(getJointMap().getModelName()); }
public SDFCollisionBoxProvider(JaxbSDFLoader loader, String modelName) { GeneralizedSDFRobotModel model = loader.getGeneralizedSDFRobotModel(modelName); SDFLinkHolder rootLink = model.getRootLinks().get(0); recursivelyAddLinks(rootLink.getName(), rootLink); }
public SDFCollisionBoxProvider(JaxbSDFLoader loader, String modelName) { GeneralizedSDFRobotModel model = loader.getGeneralizedSDFRobotModel(modelName); SDFLinkHolder rootLink = model.getRootLinks().get(0); recursivelyAddLinks(rootLink.getName(), rootLink); }
@Override public RobotDescription createRobot() { boolean useCollisionMeshes = false; GeneralizedSDFRobotModel generalizedSDFRobotModel = createJaxbSDFLoader().getGeneralizedSDFRobotModel(modelName); RobotDescriptionFromSDFLoader loader = new RobotDescriptionFromSDFLoader(); RobotDescription description = loader.loadRobotDescriptionFromSDF(generalizedSDFRobotModel, null, null, useCollisionMeshes); return description; }
@Override public RobotDescription createRobot() { boolean useCollisionMeshes = false; GeneralizedSDFRobotModel generalizedSDFRobotModel = createJaxbSDFLoader().getGeneralizedSDFRobotModel(modelName); RobotDescriptionFromSDFLoader loader = new RobotDescriptionFromSDFLoader(); RobotDescription description = loader.loadRobotDescriptionFromSDF(generalizedSDFRobotModel, null, useCollisionMeshes); return description; }
generalizedSDFRobotModel = loader.createJaxbSDFLoader().getGeneralizedSDFRobotModel(modelName);
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); }
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); }
generalizedSDFRobotModel = loader.createJaxbSDFLoader().getGeneralizedSDFRobotModel(modelName);
generalizedSDFRobotModel = loader.createJaxbSDFLoader().getGeneralizedSDFRobotModel(modelName);
generalizedSDFRobotModel = loader.createJaxbSDFLoader().getGeneralizedSDFRobotModel(modelName);