AvatarSimulationFactory avatarSimulationFactory = new AvatarSimulationFactory(); avatarSimulationFactory.setRobotModel(model); avatarSimulationFactory.setMomentumBasedControllerFactory(controllerFactory); avatarSimulationFactory.setCommonAvatarEnvironment(null); avatarSimulationFactory.setRobotInitialSetup(robotInitialSetup); avatarSimulationFactory.setSCSInitialSetup(scsInitialSetup); avatarSimulationFactory.setGuiInitialSetup(guiInitialSetup); avatarSimulationFactory.setHumanoidGlobalDataProducer(null); avatarSimulation = avatarSimulationFactory.createAvatarSimulation();
createHumanoidFloatingRootJointRobot(); setupYoVariableServer(); setupSimulationConstructionSet(); setupThreadDataSynchronizer(); setupSensorReaderFactory(); setupSimulationOutputWriter(); setupSimulationOutputProcessor(); setupStateEstimationThread(); setupControllerThread(); createClosableAndDisposableRegistry(); setupMultiThreadedRobotController(); initializeStateEstimatorToActual(); setupThreadedRobotController(); setupLidarController(); setupPositionControlledJointsForSimulation(); setupPassiveJoints(); setupSimulatedRobotTimeProvider(); setupCMPVisualization(); setupCOMVisualization(); initializeCollisionManager(); initializeSimulationConstructionSet();
AvatarSimulationFactory avatarSimulationFactory = new AvatarSimulationFactory(); avatarSimulationFactory.setRobotModel(model); avatarSimulationFactory.setHighLevelHumanoidControllerFactory(controllerFactory); avatarSimulationFactory.setCommonAvatarEnvironment(null); avatarSimulationFactory.setRobotInitialSetup(robotInitialSetup); avatarSimulationFactory.setSCSInitialSetup(scsInitialSetup); avatarSimulationFactory.setGuiInitialSetup(guiInitialSetup); avatarSimulationFactory.setRealtimeRos2Node(realtimeRos2Node); avatarSimulationFactory.setCreateYoVariableServer(createYoVariableServer); if (externalPelvisCorrectorSubscriber != null) avatarSimulationFactory.setExternalPelvisCorrectorSubscriber(externalPelvisCorrectorSubscriber); avatarSimulation = avatarSimulationFactory.createAvatarSimulation(); initialize(); avatarSimulation.start();
controllerFactory.addCustomControlState(diagnosticsWhenHangingControllerStateFactory); AvatarSimulationFactory avatarSimulationFactory = new AvatarSimulationFactory(); avatarSimulationFactory.setRobotModel(model); avatarSimulationFactory.setHighLevelHumanoidControllerFactory(controllerFactory); avatarSimulationFactory.setCommonAvatarEnvironment(environment); avatarSimulationFactory.setRobotInitialSetup(robotInitialSetup); avatarSimulationFactory.setSCSInitialSetup(scsInitialSetup); avatarSimulationFactory.setGuiInitialSetup(guiInitialSetup); AvatarSimulation avatarSimulation = avatarSimulationFactory.createAvatarSimulation();
controllerFactory.createComponentBasedFootstepDataMessageGenerator(useHeadingAndVelocityScript); AvatarSimulationFactory avatarSimulationFactory = new AvatarSimulationFactory(); avatarSimulationFactory.setRobotModel(robotModel); avatarSimulationFactory.setHighLevelHumanoidControllerFactory(controllerFactory); avatarSimulationFactory.setCommonAvatarEnvironment(environment); avatarSimulationFactory.setRobotInitialSetup(robotInitialSetup); avatarSimulationFactory.setSCSInitialSetup(scsInitialSetup); avatarSimulationFactory.setGuiInitialSetup(guiInitialSetup); avatarSimulationFactory.setRealtimeRos2Node(realtimeRos2Node); avatarSimulationFactory.setCreateYoVariableServer(createYoVariableServer); avatarSimulationFactory.setShapeCollision(robotModel.useShapeCollision()); if (externalPelvisCorrectorSubscriber != null) avatarSimulationFactory.setExternalPelvisCorrectorSubscriber(externalPelvisCorrectorSubscriber); AvatarSimulation avatarSimulation = avatarSimulationFactory.createAvatarSimulation();
createHumanoidFloatingRootJointRobot(); setupYoVariableServer(); setupSimulationConstructionSet(); setupThreadDataSynchronizer(); setupSensorReaderFactory(); setupSimulationOutputWriter(); setupStateEstimationThread(); setupControllerThread(); createClosableAndDisposableRegistry(); setupMultiThreadedRobotController(); initializeStateEstimatorToActual(); setupThreadedRobotController(); setupLidarController(); setupPositionControlledJointsForSimulation(); setupPassiveJoints(); setupSimulatedRobotTimeProvider(); setupCMPVisualization(); setupCOMVisualization(); initializeSimulationConstructionSet();
controllerFactory.createComponentBasedFootstepDataMessageGenerator(useHeadingAndVelocityScript); AvatarSimulationFactory avatarSimulationFactory = new AvatarSimulationFactory(); avatarSimulationFactory.setRobotModel(robotModel); avatarSimulationFactory.setMomentumBasedControllerFactory(controllerFactory); avatarSimulationFactory.setCommonAvatarEnvironment(environment); avatarSimulationFactory.setRobotInitialSetup(robotInitialSetup); avatarSimulationFactory.setSCSInitialSetup(scsInitialSetup); avatarSimulationFactory.setGuiInitialSetup(guiInitialSetup); avatarSimulationFactory.setHumanoidGlobalDataProducer(dataProducer); AvatarSimulation avatarSimulation = avatarSimulationFactory.createAvatarSimulation();
AvatarSimulationFactory avatarSimulationFactory = new AvatarSimulationFactory(); avatarSimulationFactory.setRobotModel(model); avatarSimulationFactory.setMomentumBasedControllerFactory(momentumBasedControllerFactory); avatarSimulationFactory.setCommonAvatarEnvironment(environment); avatarSimulationFactory.setRobotInitialSetup(robotInitialSetup); avatarSimulationFactory.setSCSInitialSetup(scsInitialSetup); avatarSimulationFactory.setGuiInitialSetup(guiInitialSetup); avatarSimulationFactory.setHumanoidGlobalDataProducer(globalDataProducer); AvatarSimulation avatarSimulation = avatarSimulationFactory.createAvatarSimulation();