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private void myMethod () {}
@Override public void setGroundProfile3D(GroundProfile3D groundProfile3D) { baseModel.setGroundProfile3D(groundProfile3D); } }
@Override public void setGroundProfile3D(GroundProfile3D groundProfile3D) { baseModel.setGroundProfile3D(groundProfile3D); } }
private GroundContactModel createGroundContactModel(Robot robot, GroundProfile3D groundProfile) { double kXY = 5000.0; double bXY = 100.0; double kZ = 1000.0; double bZ = 100.0; double alphaStick = 0.7; double alphaSlip = 0.5; GroundContactModel groundContactModel = new LinearStickSlipGroundContactModel(robot, kXY, bXY, kZ, bZ, alphaSlip, alphaStick, robot.getRobotsYoVariableRegistry()); groundContactModel.setGroundProfile3D(groundProfile); return groundContactModel; }
private GroundContactModel createGroundContactModel(Robot robot, GroundProfile3D groundProfile) { double kXY = 5000.0; double bXY = 100.0; double kZ = 1000.0; double bZ = 100.0; double alphaStick = 0.7; double alphaSlip = 0.5; GroundContactModel groundContactModel = new LinearStickSlipGroundContactModel(robot, kXY, bXY, kZ, bZ, alphaSlip, alphaStick, robot.getRobotsYoVariableRegistry()); groundContactModel.setGroundProfile3D(groundProfile); return groundContactModel; }
private GroundContactModel createGroundContactModel(Robot robot, GroundProfile3D groundProfile) { double kXY = 40000.0; double bXY = 10.0; double kZ = 80.0; double bZ = 500.0; double alphaStick = 0.7; double alphaSlip = 0.5; GroundContactModel groundContactModel = new LinearStickSlipGroundContactModel(robot, kXY, bXY, kZ, bZ, alphaSlip, alphaStick, robot.getRobotsYoVariableRegistry()); groundContactModel.setGroundProfile3D(groundProfile); return groundContactModel; } }
public DRCDrillEnvironment() { double forceVectorScale = 1.0 / 500.0; combinedTerrainObject = new CombinedTerrainObject3D(getClass().getSimpleName()); combinedTerrainObject.addTerrainObject(setUpGround("Ground", tableCenter, 0.1)); RigidBodyTransform initialDrillTransform = new RigidBodyTransform(new AxisAngle4d(), tableCenter); drillRobot = new ContactableCylinderRobot("drill", initialDrillTransform , drillRadius, drillHeight, drillMass, "models/drill.obj"); final int groundContactGroupIdentifier = 0; drillRobot.createAvailableContactPoints(groundContactGroupIdentifier, 30, forceVectorScale, true); for (int i = 0; i < 4; i++) { double angle = i * 2.0 * Math.PI / 4.0; double x = 1.5 * drillRadius * Math.cos(angle); double y = 1.5 * drillRadius * Math.sin(angle); GroundContactPoint groundContactPoint = new GroundContactPoint("gc_drill_" + i, new Vector3d(x, y, 0.0), drillRobot); drillRobot.getRootJoints().get(0).addGroundContactPoint(groundContactPoint); } GroundContactModel groundContactModel = new LinearGroundContactModel(drillRobot, groundContactGroupIdentifier,1422.0, 150.6, 50.0, 600.0, drillRobot.getRobotsYoVariableRegistry()); groundContactModel.setGroundProfile3D(combinedTerrainObject); drillRobot.setGroundContactModel(groundContactModel); robots.add(drillRobot); }
public HandDrillManipulationEnvironment() { double forceVectorScale = 1.0 / 500.0; combinedTerrainObject = new CombinedTerrainObject3D(getClass().getSimpleName()); combinedTerrainObject.addTerrainObject(setUpGround("Ground", tableCenter, 0.1)); RigidBodyTransform initialDrillTransform = new RigidBodyTransform(new AxisAngle(), tableCenter); drillRobot = new ContactableCylinderRobot("drill", initialDrillTransform , drillRadius, drillHeight, drillMass, "models/drill.obj"); final int groundContactGroupIdentifier = 0; drillRobot.createAvailableContactPoints(groundContactGroupIdentifier, 30, forceVectorScale, true); for (int i = 0; i < 4; i++) { double angle = i * 2.0 * Math.PI / 4.0; double x = 1.5 * drillRadius * Math.cos(angle); double y = 1.5 * drillRadius * Math.sin(angle); GroundContactPoint groundContactPoint = new GroundContactPoint("gc_drill_" + i, new Vector3D(x, y, 0.0), drillRobot); drillRobot.getRootJoints().get(0).addGroundContactPoint(groundContactPoint); } GroundContactModel groundContactModel = new LinearGroundContactModel(drillRobot, groundContactGroupIdentifier,1422.0, 150.6, 50.0, 600.0, drillRobot.getRobotsYoVariableRegistry()); groundContactModel.setGroundProfile3D(combinedTerrainObject); drillRobot.setGroundContactModel(groundContactModel); robots.add(drillRobot); }
linearGroundModel.setGroundProfile3D(combinedEnvironment); newBox.setGroundContactModel(linearGroundModel); newBox.setGravity(-9.81); linearGroundModel.setGroundProfile3D(combinedEnvironment); newBox.setGroundContactModel(linearGroundModel); linearGroundModel.setGroundProfile3D(combinedEnvironment); newBox.setGroundContactModel(linearGroundModel); newBox.setGravity(-9.81);
private void createDrill() { Vector3D tableCenter = new Vector3D(-0.851, -6.833, 1.118); double drillHeight = 0.3; double drillRadius = 0.03; double drillMass = 1.5; double forceVectorScale = 1.0 / 500.0; RigidBodyTransform initialDrillTransform = new RigidBodyTransform(new AxisAngle(), tableCenter); ContactableCylinderRobot drillRobot = new ContactableCylinderRobot("drill", initialDrillTransform, drillRadius, drillHeight, drillMass, "models/drill.obj"); final int groundContactGroupIdentifier = 0; drillRobot.createAvailableContactPoints(groundContactGroupIdentifier, 30, forceVectorScale, true); for (int i = 0; i < 4; i++) { double angle = i * 2.0 * Math.PI / 4.0; double x = 1.5 * drillRadius * Math.cos(angle); double y = 1.5 * drillRadius * Math.sin(angle); GroundContactPoint groundContactPoint = new GroundContactPoint("gc_drill_" + i, new Vector3D(x, y, 0.0), drillRobot); drillRobot.getRootJoints().get(0).addGroundContactPoint(groundContactPoint); } GroundContactModel groundContactModel = new LinearGroundContactModel(drillRobot, groundContactGroupIdentifier, 1422.0, 150.6, 50.0, 600.0, drillRobot.getRobotsYoVariableRegistry()); groundContactModel.setGroundProfile3D(combinedTerrainObject); drillRobot.setGroundContactModel(groundContactModel); contactableRobots.add(drillRobot); combinedTerrainObject.addBox(-0.777, -6.916, -0.947, -6.746, 1.061, 1.08); }
private void createDrill() { Vector3d tableCenter = new Vector3d(-0.851, -6.833, 1.118); double drillHeight = 0.3; double drillRadius = 0.03; double drillMass = 1.5; double forceVectorScale = 1.0 / 500.0; RigidBodyTransform initialDrillTransform = new RigidBodyTransform(new AxisAngle4d(), tableCenter); ContactableCylinderRobot drillRobot = new ContactableCylinderRobot("drill", initialDrillTransform, drillRadius, drillHeight, drillMass, "models/drill.obj"); final int groundContactGroupIdentifier = 0; drillRobot.createAvailableContactPoints(groundContactGroupIdentifier, 30, forceVectorScale, true); for (int i = 0; i < 4; i++) { double angle = i * 2.0 * Math.PI / 4.0; double x = 1.5 * drillRadius * Math.cos(angle); double y = 1.5 * drillRadius * Math.sin(angle); GroundContactPoint groundContactPoint = new GroundContactPoint("gc_drill_" + i, new Vector3d(x, y, 0.0), drillRobot); drillRobot.getRootJoints().get(0).addGroundContactPoint(groundContactPoint); } GroundContactModel groundContactModel = new LinearGroundContactModel(drillRobot, groundContactGroupIdentifier, 1422.0, 150.6, 50.0, 600.0, drillRobot.getRobotsYoVariableRegistry()); groundContactModel.setGroundProfile3D(combinedTerrainObject); drillRobot.setGroundContactModel(groundContactModel); contactableRobots.add(drillRobot); combinedTerrainObject.addBox(-0.777, -6.916, -0.947, -6.746, 1.061, 1.08); }
public FootstepVisualizer(GroundProfile3D groundProfile, Graphics3DObject linkGraphics, int maxNumberOfFootstepsPerSide, int maxContactPointsPerFoot, String description) { nullRobot = new Robot("FootstepVisualizerRobot"); if (groundProfile != null) { GroundContactModel gcModel = new LinearGroundContactModel(nullRobot, nullRobot.getRobotsYoVariableRegistry()); gcModel.setGroundProfile3D(groundProfile); nullRobot.setGroundContactModel(gcModel); } scs = new SimulationConstructionSet(nullRobot); if (linkGraphics != null) { scs.setGroundVisible(false); scs.addStaticLinkGraphics(linkGraphics); } printifdebug("Attaching exit listener"); scs.setDT(1, 1); yoGraphicsListRegistry = new YoGraphicsListRegistry(); bagOfSingleFootstepVisualizers = new BagOfSingleFootstepVisualizers(maxNumberOfFootstepsPerSide, maxContactPointsPerFoot, registry, yoGraphicsListRegistry); addText(scs, yoGraphicsListRegistry, description); }
public FootstepVisualizer(GroundProfile3D groundProfile, Graphics3DObject linkGraphics, int maxNumberOfFootstepsPerSide, int maxContactPointsPerFoot, String description) { nullRobot = new Robot("FootstepVisualizerRobot"); if (groundProfile != null) { GroundContactModel gcModel = new LinearGroundContactModel(nullRobot, nullRobot.getRobotsYoVariableRegistry()); gcModel.setGroundProfile3D(groundProfile); nullRobot.setGroundContactModel(gcModel); } scs = new SimulationConstructionSet(nullRobot); if (linkGraphics != null) { scs.setGroundVisible(false); scs.addStaticLinkGraphics(linkGraphics); } printifdebug("Attaching exit listener"); scs.setDT(1, 1); yoGraphicsListRegistry = new YoGraphicsListRegistry(); bagOfSingleFootstepVisualizers = new BagOfSingleFootstepVisualizers(maxNumberOfFootstepsPerSide, maxContactPointsPerFoot, registry, yoGraphicsListRegistry); addText(scs, yoGraphicsListRegistry, description); }