public RobotDescription loadRobotDescriptionFromSDF(GeneralizedSDFRobotModel generalizedSDFRobotModel, JointNameMap jointNameMap, boolean useShapeCollision) { this.useShapeCollision = useShapeCollision; return loadRobotDescriptionFromSDF(generalizedSDFRobotModel, jointNameMap, null, false); }
public RobotDescription loadRobotDescriptionFromSDF(String modelName, InputStream inputStream, List<String> resourceDirectories, SDFDescriptionMutator mutator, JointNameMap jointNameMap, ContactPointDefinitionHolder contactPointHolder, boolean useCollisionMeshes) { GeneralizedSDFRobotModel generalizedSDFRobotModel = loadSDFFile(modelName, inputStream, resourceDirectories, mutator); return loadRobotDescriptionFromSDF(generalizedSDFRobotModel, jointNameMap, contactPointHolder, useCollisionMeshes); }
private RobotDescription createRobotDescription() { boolean useCollisionMeshes = false; GeneralizedSDFRobotModel generalizedSDFRobotModel = getGeneralizedRobotModel(); RobotDescriptionFromSDFLoader descriptionLoader = new RobotDescriptionFromSDFLoader(); RobotDescription robotDescription = descriptionLoader.loadRobotDescriptionFromSDF(generalizedSDFRobotModel, jointMap, contactPointParameters, useCollisionMeshes); return robotDescription; }
private RobotDescription createRobotDescription() { boolean useCollisionMeshes = false; boolean enableTorqueVelocityLimits = true; boolean enableJointDamping = true; GeneralizedSDFRobotModel generalizedSDFRobotModel = getGeneralizedRobotModel(); RobotDescriptionFromSDFLoader descriptionLoader = new RobotDescriptionFromSDFLoader(); RobotDescription robotDescription = descriptionLoader.loadRobotDescriptionFromSDF(generalizedSDFRobotModel, jointMap, contactPointParameters, useCollisionMeshes); return robotDescription; }
private RobotDescription createRobotDescription() { boolean useCollisionMeshes = false; GeneralizedSDFRobotModel generalizedSDFRobotModel = getGeneralizedRobotModel(); RobotDescriptionFromSDFLoader descriptionLoader = new RobotDescriptionFromSDFLoader(); RobotDescription robotDescription = descriptionLoader.loadRobotDescriptionFromSDF(generalizedSDFRobotModel, jointMap, contactPointParameters, useCollisionMeshes); return robotDescription; }
public RobotDescription createRobotDescription(JointNameMap jointNameMap, ContactPointDefinitionHolder contactDefinition, boolean useCollisionMeshes) { if (jointNameMap != null) { String modelName = jointNameMap.getModelName(); checkModelName(modelName); RobotDescriptionFromSDFLoader loader = new RobotDescriptionFromSDFLoader(); RobotDescription description = loader.loadRobotDescriptionFromSDF(generalizedSDFRobotModels.get(modelName), jointNameMap, contactDefinition, useCollisionMeshes); return description; } else { throw new RuntimeException("Cannot make a fullrobotmodel without a jointNameMap"); } } }
@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; }
@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; }
private RobotDescription createRobotDescription() { boolean useCollisionMeshes = false; GeneralizedSDFRobotModel generalizedSDFRobotModel = getGeneralizedRobotModel(); RobotDescriptionFromSDFLoader descriptionLoader = new RobotDescriptionFromSDFLoader(); RobotDescription robotDescription; if (useShapeCollision) { robotDescription = descriptionLoader.loadRobotDescriptionFromSDF(generalizedSDFRobotModel, jointMap, useShapeCollision); collisionMeshDefinitionDataHolder.setVisible(false); robotDescription.addCollisionMeshDefinitionData(collisionMeshDefinitionDataHolder); } else { robotDescription = descriptionLoader.loadRobotDescriptionFromSDF(generalizedSDFRobotModel, jointMap, getContactPointParameters(), useCollisionMeshes); } return robotDescription; }
RobotDescription robotDescription = loader.loadRobotDescriptionFromSDF(generalizedSDFRobotModel, null, useCollisionMeshes);
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); }
robotDescription = loader.loadRobotDescriptionFromSDF(generalizedSDFRobotModel, null, null, useCollisionMeshes);
robotDescription = loader.loadRobotDescriptionFromSDF(generalizedSDFRobotModel, null, useCollisionMeshes);
robotDescription = loader.loadRobotDescriptionFromSDF(generalizedSDFRobotModel, null, null, useCollisionMeshes);