def update_polygon(self): self.handle = None try: vertices = self.stance.compute_zmp_support_area([0, 0, self.z]) self.handle = draw_polygon( [(x[0], x[1], self.z) for x in vertices], normal=[0, 0, 1], color=(0.0, 0.0, 0.5, 0.5)) except Exception as e: print("SupportAreaDrawer: {}".format(e))
def __init__(self, contact, stiffness=2000.): super(SoftContact, self).__init__() x, y, z = contact.x, contact.y, contact.z polygon = [(x + 0.5, y, z - 0.5), (x + 0.5, y, z + 0.5), (x - 0.5, y, z + 0.5), (x - 0.5, y, z - 0.5)] self.contact = contact self.handle = draw_polygon(polygon, [0, 1, 0], color='k') self.init_y = y + 0.01 self.stiffness = stiffness
def update_polygon(self): self.handle = None try: vertices = self.stance.compute_static_equilibrium_polygon( method=self.method) self.handle = draw_polygon( [(x[0], x[1], self.z) for x in vertices], normal=[0, 0, 1], color=self.color) except Exception as e: print("SupportPolygonDrawer: {}".format(e))
def update_handle(self): self.handle = None try: self.vertices = self.stance.compute_static_equilibrium_polygon( method=self.method) self.handle = draw_polygon([(x[0], x[1], self.height) for x in self.vertices], normal=[0, 0, 1], color='g') except Exception as e: print("CoMPolygonDrawer: {}".format(e))
def update_polygon(self): self.handle = None try: vertices = compute_local_actuation_dependent_polygon( self.robot, self.stance) self.handle = draw_polygon([(x[0], x[1], self.height) for x in vertices], normal=[0, 0, 1], color='m') except Exception as e: print("ActuationDependentPolygonDrawer: {}".format(e))