本文整理了Java中us.ihmc.simulationconstructionset.Robot.setGravity
方法的一些代码示例,展示了Robot.setGravity
的具体用法。这些代码示例主要来源于Github
/Stackoverflow
/Maven
等平台,是从一些精选项目中提取出来的代码,具有较强的参考意义,能在一定程度帮忙到你。Robot.setGravity
方法的具体详情如下:
包路径:us.ihmc.simulationconstructionset.Robot
类名称:Robot
方法名:setGravity
暂无
代码示例来源:origin: us.ihmc/simulation-construction-set-tools-test
public static void createRandomTreeRobotAndSetJointPositionsAndVelocities(Robot robot, HashMap<RevoluteJoint, PinJoint> jointMap, ReferenceFrame worldFrame, RigidBodyBasics elevator, int numberOfJoints, double gravity, boolean useRandomVelocity, boolean useRandomAcceleration, Random random)
robot.setGravity(gravity);
代码示例来源:origin: us.ihmc/IHMCAvatarInterfaces
public void initializeRobot(Robot robot, DRCRobotModel robotModel, YoGraphicsListRegistry yoGraphicsListRegistry)
{
robot.setGravity(gravity);
LinearGroundContactModel groundContactModel = new LinearGroundContactModel(robot, robot.getRobotsYoVariableRegistry());
robotModel.getContactPointParameters().setupGroundContactModelParameters(groundContactModel);
// if ((commonTerrain.getSteppingStones() != null) && (yoGraphicsListRegistry != null))
// commonTerrain.registerSteppingStonesArtifact(yoGraphicsListRegistry);
// groundContactModel.setGroundProfile(commonTerrain.getGroundProfile());
if (groundProfile3D != null) groundContactModel.setGroundProfile3D(groundProfile3D);
// TODO: change this to scs.setGroundContactModel(groundContactModel);
robot.setGroundContactModel(groundContactModel);
}
代码示例来源:origin: us.ihmc/DarpaRoboticsChallenge
public void initializeRobot(Robot robot, DRCRobotModel robotModel, YoGraphicsListRegistry yoGraphicsListRegistry)
{
robot.setGravity(gravity);
LinearGroundContactModel groundContactModel = new LinearGroundContactModel(robot, robot.getRobotsYoVariableRegistry());
robotModel.getContactPointParameters().setupGroundContactModelParameters(groundContactModel);
// if ((commonTerrain.getSteppingStones() != null) && (yoGraphicsListRegistry != null))
// commonTerrain.registerSteppingStonesArtifact(yoGraphicsListRegistry);
// groundContactModel.setGroundProfile(commonTerrain.getGroundProfile());
if (groundProfile3D != null) groundContactModel.setGroundProfile3D(groundProfile3D);
// TODO: change this to scs.setGroundContactModel(groundContactModel);
robot.setGroundContactModel(groundContactModel);
}
代码示例来源:origin: us.ihmc/simulation-construction-set-test
@Test// timeout=300000
public void testFloatingJointAndPinJointWithMassiveBody() throws UnreasonableAccelerationException
{
Random random = new Random(1659L);
Robot robot = new Robot("r1");
robot.setGravity(0.0);
FloatingJoint root1 = new FloatingJoint("root1", new Vector3D(), robot);
robot.addRootJoint(root1);
Link floatingBody = new Link("floatingBody");
floatingBody.setMass(random.nextDouble());
floatingBody.setComOffset(random.nextDouble(), random.nextDouble(), random.nextDouble());
floatingBody.setMomentOfInertia(getRotationalInertiaMatrixOfSolidEllipsoid(floatingBody.getMass(), random.nextDouble(),
random.nextDouble(), random.nextDouble()));
root1.setLink(floatingBody);
Vector3D offset = EuclidCoreRandomTools.nextVector3D(random);
PinJoint pin1 = new PinJoint("pin1", offset, robot, EuclidCoreRandomTools.nextVector3D(random));
pin1.setLink(massiveLink());
root1.addJoint(pin1);
pin1.setTau(random.nextDouble());
robot.doDynamicsButDoNotIntegrate();
double scalarInertiaAboutJointAxis = computeScalarInertiaAroundJointAxis(floatingBody, pin1);
double torqueFromDynamics = scalarInertiaAboutJointAxis * pin1.getQDDYoVariable().getDoubleValue();
assertEquals(pin1.getTauYoVariable().getDoubleValue(), torqueFromDynamics, pin1.getTauYoVariable().getDoubleValue() * 1e-3);
}
代码示例来源:origin: us.ihmc/simulation-construction-set-tools-test
private static void createRandomChainRobotAndSetJointPositionsAndVelocities(Robot robot, HashMap<RevoluteJoint, PinJoint> jointMap, ReferenceFrame worldFrame, RigidBodyBasics elevator, Vector3D[] jointAxes, double gravity, boolean useRandomVelocity, boolean useRandomAcceleration, Random random)
robot.setGravity(gravity);
代码示例来源:origin: us.ihmc/simulation-construction-set-tools-test
@ContinuousIntegrationAnnotations.ContinuousIntegrationTest(estimatedDuration = 11.3)
@Test(timeout=3000000)
public void testLinearAndAngularMomentumAreConverved()
{
int numberOfRobotsToTest = 5;
int minNumberOfAxes = 2;
int maxNumberOfAxes = 10;
Robot[] robots = new Robot[numberOfRobotsToTest];
for (int i = 0; i < numberOfRobotsToTest; i++)
{
Robot robot = new RobotTools.SCSRobotFromInverseDynamicsRobotModel("robot" + i, getRandomFloatingChain(minNumberOfAxes, maxNumberOfAxes).getRootJoint());
robot.setGravity(0.0, 0.0, 0.0);
robot.setController(new ConservedQuantitiesChecker(robot));
robot.setController(new SinusoidalTorqueController(robot));
robots[i] = robot;
}
SimulationConstructionSet scs = new SimulationConstructionSet(robots, simulationTestingParameters);
scs.startOnAThread();
BlockingSimulationRunner blockingSimulationRunner = new BlockingSimulationRunner(scs, 30.0);
try
{
blockingSimulationRunner.simulateAndBlock(8.0);
}
catch(BlockingSimulationRunner.SimulationExceededMaximumTimeException | ControllerFailureException e)
{
e.printStackTrace();
fail();
}
}
代码示例来源:origin: us.ihmc/ihmc-avatar-interfaces
public void initializeRobot(Robot robot, DRCRobotModel robotModel, YoGraphicsListRegistry yoGraphicsListRegistry)
{
robot.setGravity(gravity);
LinearGroundContactModel groundContactModel = new LinearGroundContactModel(robot, robot.getRobotsYoVariableRegistry());
robotModel.getContactPointParameters().setupGroundContactModelParameters(groundContactModel, simulateDT);
if (enableGroundSlipping)
groundContactModel.enableSlipping();
if (Double.isFinite(groundAlphaStick) && Double.isFinite(groundAlphaSlip))
groundContactModel.setAlphaStickSlip(groundAlphaStick, groundAlphaSlip);
if (groundProfile3D != null)
groundContactModel.setGroundProfile3D(groundProfile3D);
robot.setGroundContactModel(groundContactModel);
}
代码示例来源:origin: us.ihmc/ihmc-avatar-interfaces-test
robot.setController(toolboxUpdater);
robot.setDynamic(false);
robot.setGravity(0);
ghost = new RobotFromDescription(ghostRobotDescription);
ghost.setDynamic(false);
ghost.setGravity(0);
代码示例来源:origin: us.ihmc/ihmc-avatar-interfaces
robot.setGravity(gravity);
代码示例来源:origin: us.ihmc/ihmc-avatar-interfaces
robot.setGravity(gravity);
代码示例来源:origin: us.ihmc/simulation-construction-set-tools-test
robot.setGravity(gravity);
代码示例来源:origin: us.ihmc/DarpaRoboticsChallenge
robot.setGravity(gravity);
代码示例来源:origin: us.ihmc/IHMCAvatarInterfaces
robot.setGravity(gravity);
代码示例来源:origin: us.ihmc/simulation-construction-set-test
robot.setGravity(0.0);
代码示例来源:origin: us.ihmc/simulation-construction-set-test
robot.setGravity(gravity);
代码示例来源:origin: us.ihmc/simulation-construction-set-test
robot.addRootJoint(jointTwo);
robot.setGravity(0.0);
代码示例来源:origin: us.ihmc/simulation-construction-set-tools-test
private void createFloatingRobot()
{
Robot floatingRobot = new Robot("floatingRobot");
Vector3D position = new Vector3D(0.0, 0.02, 1.1);
double length = 0.01;
floatingRobot.setGravity(0.0, 0.0, 0.0);
horizontalJoint = new SliderJoint("y", position, floatingRobot, Axis.Y);
floatingRobot.addRootJoint(horizontalJoint);
Link linkHorizontal = new Link("linkHorizontal");
linkHorizontal.setMass(0.5);
linkHorizontal.setComOffset(length / 2.0, 0.0, 0.0);
linkHorizontal.setMomentOfInertia(0.0, 0.01, 0.0);
Graphics3DObject linkHorizontalGraphics = new Graphics3DObject();
linkHorizontalGraphics.addCylinder(length * 10, 0.005, YoAppearance.Orange());
linkHorizontal.setLinkGraphics(linkHorizontalGraphics);
horizontalJoint.setLink(linkHorizontal);
verticalJoint = new SliderJoint("z", new Vector3D(0.0, 0.0, 0.0), floatingRobot, Axis.Z);
Link linkVertical = new Link("linkVertical");
linkVertical.setMass(0.5);
linkVertical.setComOffset(length / 2.0, 0.0, 0.0);
linkVertical.setMomentOfInertia(0.0, 0.01, 0.0);
Graphics3DObject linkVerticalGraphics = new Graphics3DObject();
linkVerticalGraphics.addCylinder(length, 0.005, YoAppearance.Blue());
linkVertical.setLinkGraphics(linkVerticalGraphics);
verticalJoint.setLink(linkVertical);
horizontalJoint.addJoint(verticalJoint);
createFloatingRobotController();
robots[0] = floatingRobot;
robots[0].setController(floatingRobotController);
}
代码示例来源:origin: us.ihmc/simulation-construction-set-test
pin2.setLink(link12);
robot1.setGravity(0.0);
robot2.setGravity(0.0);
代码示例来源:origin: us.ihmc/simulation-construction-set-test
robot.addRootJoint(rootJoint);
robot.setGravity(0.0);
rootJoint.setAngularVelocityInBody(rotationAxis);
代码示例来源:origin: us.ihmc/simulation-construction-set-test
Random random = new Random(1776L);
Robot robot = RandomRobotGenerator.generateRandomLinearChainRobot(name, startWithFloatingJoint, numberOfPinJoints, random);
robot.setGravity(0.0, 0.0, 0.0);
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