public static List<OneDoFJoint> createRandomChainRobotWithOneDoFJoints(int numberOfJoints, Random random) { return createRandomChainRobotWithOneDoFJoints("", numberOfJoints, random); }
public static List<OneDoFJoint> createRandomChainRobotWithOneDoFJoints(String prefix, RigidBody rootBody, Vector3d[] jointAxes, Random random) { List<OneDoFJoint> oneDoFJoints = new ArrayList<>(); createRandomChainRobotWithOneDoFJoints(prefix, oneDoFJoints, rootBody, jointAxes, random); return oneDoFJoints; }
public static List<OneDoFJoint> createRandomChainRobotWithOneDoFJoints(String prefix, int numberOfJoints, Random random) { return createRandomChainRobotWithOneDoFJoints(prefix, RandomTools.generateRandomVectorArray(random, numberOfJoints, 1.0), random); }
public static List<OneDoFJoint> createRandomChainRobotWithOneDoFJoints(String prefix, Vector3d[] jointAxes, Random random) { ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame(); ReferenceFrame rootBodyFrame = ReferenceFrame.constructBodyFrameWithUnchangingTransformToParent("rootBodyFrame", worldFrame, new RigidBodyTransform()); RigidBody rootBody = new RigidBody(prefix + "RootBody", rootBodyFrame); return createRandomChainRobotWithOneDoFJoints(prefix, rootBody, jointAxes, random); }