us.ihmc.simulationconstructionset.Robot类的使用及代码示例

x33g5p2x  于2022-01-29 转载在 其他  
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本文整理了Java中us.ihmc.simulationconstructionset.Robot类的一些代码示例，展示了Robot类的具体用法。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类的具体详情如下：
包路径：us.ihmc.simulationconstructionset.Robot
类名称：Robot

Robot介绍

暂无

代码示例

代码示例来源：origin: us.ihmc/simulation-construction-set-test

@BeforeEach
public void setUp()
{
  offset = new Vector3D(1.0, 2.0, 3.0);
  robot = new Robot("testRobot");
  kinematicPoint = new KinematicPoint("testPoint", offset, robot.getRobotsYoVariableRegistry());
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces

Map<String, OneDegreeOfFreedomJoint> scsJointMap = new HashMap<>();
ArrayList<OneDegreeOfFreedomJoint> scsOnDoFJointList = new ArrayList<>();
robot.getAllOneDegreeOfFreedomJoints(scsOnDoFJointList);
scsOnDoFJointList.forEach(joint -> scsJointMap.put(joint.getName(), joint));
if (robot.getRootJoints().get(0) instanceof FloatingJoint)
  scsRootJoint = (FloatingJoint) robot.getRootJoints().get(0);
else
  scsRootJoint = null;

代码示例来源：origin: us.ihmc/simulation-construction-set-test

private SimulationConstructionSet constructRewindableSimulationConstructionSet()
{
 Robot robot = new Robot("Test");
 RobotController controller = new RewindableController(robot);
 robot.setController(controller);
 
 return constructSimulationConstructionSet(robot, controller);
}

代码示例来源：origin: us.ihmc/simulation-construction-set-tools

public TorqueSpeedDataExporterGraphCreator(Robot robot, DataBuffer dataBuffer)
{
 super(robot.getYoTime(), dataBuffer);
 for (Joint rootJoint : robot.getRootJoints())
 {
   recursivelyAddPinJoints(rootJoint, pinJoints);
 }
}

代码示例来源：origin: us.ihmc/simulation-construction-set-tools-test

ConservedQuantitiesChecker(Robot robot)
{
  this.robot = robot;
  this.rootJoint = (FloatingJoint) robot.getRootJoints().get(0);
  this.registry = new YoVariableRegistry(robot.getName() + getClass().getSimpleName());
}

代码示例来源：origin: us.ihmc/simulation-construction-set-tools-test

SinusoidalTorqueController(Robot robot)
{
  this.t = robot.getYoTime();
  this.registry = new YoVariableRegistry(robot.getName() + getClass().getSimpleName());
  Joint rootJoint = robot.getRootJoints().get(0);
  for(Joint childJoint : rootJoint.getChildrenJoints())
  {
   recursivelyAddJointTorqueProfile(childJoint);
  }
}

代码示例来源：origin: us.ihmc/simulation-construction-set-tools-test

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000, expected=RuntimeException.class)
public void testSetMaxLessThanMin()
{
 Robot robot = new Robot("Derivative");
 YoVariableRegistry registry = new YoVariableRegistry("variables");
 YoDouble position = new YoDouble("position", registry);
 robot.addYoVariableRegistry(registry);
 SimulationConstructionSet scs = new SimulationConstructionSet(robot, simulationTestingParameters);
 ValueDataCheckerParameters valueDataCheckerParameters = new ValueDataCheckerParameters();
 YoVariableValueDataChecker yoVariableValueDataChecker = new YoVariableValueDataChecker(scs, position, robot.getYoTime(), valueDataCheckerParameters);
 double value = 10.0;
 yoVariableValueDataChecker.setMinimumValue(value);
 yoVariableValueDataChecker.setMaximumValue(value - 10.0);
}

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

public void testSimpleSmoothDerviativeNoExeededWithSecondDerivateProvidedAndError()
 Robot robot = new Robot("Derivative");
 robot.addYoVariableRegistry(registry);
   robot.setTime(time);
 valueDataCheckerParameters.setErrorThresholdOnDerivativeComparison(1e-2);
 YoVariableValueDataChecker yoVariableValueDataChecker = new YoVariableValueDataChecker(scs, position, robot.getYoTime(), valueDataCheckerParameters, velocity);
 yoVariableValueDataChecker.cropFirstPoint();

代码示例来源：origin: us.ihmc/simulation-construction-set-test

private SimulationConstructionSet createNewSCSWithEmptyRobot(String robotName)
{
 return new SimulationConstructionSet(new Robot(robotName), parameters);
}

代码示例来源：origin: us.ihmc/ihmc-mocap

@Override
public void actionPerformed(ActionEvent e)
 Robot robot = new Robot("Mocap_Robot");
 robot.addYoVariableRegistry(registry);

代码示例来源：origin: us.ihmc/IHMCSimulationToolkit

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);
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces

robot.setGravity(gravity);
                                      robot.getRobotsYoVariableRegistry());
robot.setGroundContactModel(groundContactModel);
robot.setDynamicIntegrationMethod(DynamicIntegrationMethod.EULER_DOUBLE_STEPS);
JMEGraphics3DAdapter graphicsAdapter = new JMEGraphics3DAdapter();

代码示例来源：origin: us.ihmc/simulation-construction-set-tools-test

private Robot createRobot()
  {
    Robot robot = new Robot("RandomRobot");

    PinJoint pinJoint = new PinJoint("TestPinJoint", new Vector3D(), robot, new Vector3D(0, 0, 1));
    robot.addRootJoint(pinJoint);

    return robot;
  }
}

代码示例来源：origin: us.ihmc/IHMCSimulationToolkit

robot = new Robot("viz");
rootJoint = new FloatingJoint("floating", new Vector3d(), robot);
robot.getRobotsYoVariableRegistry();
robot.setController(this);
scs.setRobot(robot);
swingLeg.set(RobotQuadrant.FRONT_RIGHT);

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/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/ihmc-common-walking-control-modules-test

private void setupSCS()
{
 SimulationTestingParameters simulationTestingParameters = SimulationTestingParameters.createFromSystemProperties();
 simulationTestingParameters.setKeepSCSUp(visualize);
 Robot robot = new Robot("Dummy");
 yoTime = robot.getYoTime();
 scs = new SimulationConstructionSet(robot, simulationTestingParameters);
}

代码示例来源：origin: us.ihmc/simulation-construction-set-test

Robot robot = new Robot("linkTest");
robot.addRootJoint(rootJoint);
robot.setGravity(0.0);
rootJoint.setAngularVelocityInBody(rotationAxis);

代码示例来源：origin: us.ihmc/simulation-construction-set-test

private String getLastVariableNameFromRobotRegistry(Robot robotModel)
{
 int lastIndex = robotModel.getRobotsYoVariableRegistry().getAllVariablesArray().length - 1;
 return robotModel.getRobotsYoVariableRegistry().getAllVariablesArray()[lastIndex].getName();
}

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