public void simulate() { System.out.println("Starting simulation"); avatarSimulation.simulate(); }
public void createSimulation(DRCNetworkModuleParameters networkParameters, boolean automaticallySpawnSimulation, boolean automaticallySimulate) { if ((networkParameters != null)) { createControllerCommunicator(networkParameters); } this.avatarSimulation = createAvatarSimulation(); if (automaticallySpawnSimulation) avatarSimulation.start(); if (automaticallySpawnSimulation && automaticallySimulate) avatarSimulation.simulate(); if ((networkParameters != null) && networkParameters.isNetworkProcessorEnabled()) //&& (networkParameters.useController())) { startNetworkProcessor(networkParameters); } }
public void createSimulation(DRCNetworkModuleParameters networkParameters, boolean automaticallySpawnSimulation, boolean automaticallySimulate) { if ((networkParameters != null)) { createControllerCommunicator(networkParameters); } this.avatarSimulation = createAvatarSimulation(); if (automaticallySpawnSimulation) avatarSimulation.start(); if (realtimeRos2Node != null) realtimeRos2Node.spin(); if (automaticallySpawnSimulation && automaticallySimulate) avatarSimulation.simulate(); if ((networkParameters != null) && networkParameters.isNetworkProcessorEnabled()) //&& (networkParameters.useController())) { startNetworkProcessor(networkParameters); } }
public static void main(String[] args) { boolean USE_JOYSTICK_CONTROLLER = Joystick.isAJoystickConnectedToSystem(); WandererRobotModel robotModel = new WandererRobotModel(false, false); DRCGuiInitialSetup guiInitialSetup = new DRCGuiInitialSetup(true, false); final double groundHeight = 0.0; GroundProfile3D groundProfile = new FlatGroundProfile(groundHeight); DRCSCSInitialSetup scsInitialSetup = new DRCSCSInitialSetup(groundProfile, robotModel.getSimulateDT()); scsInitialSetup.setDrawGroundProfile(true); scsInitialSetup.setInitializeEstimatorToActual(true); double initialYaw = 0.3; DRCRobotInitialSetup<HumanoidFloatingRootJointRobot> robotInitialSetup = robotModel.getDefaultRobotInitialSetup(groundHeight, initialYaw); boolean useVelocityAndHeadingScript = !USE_JOYSTICK_CONTROLLER; boolean cheatWithGroundHeightAtForFootstep = false; HeadingAndVelocityEvaluationScriptParameters walkingScriptParameters = new HeadingAndVelocityEvaluationScriptParameters(); DRCFlatGroundWalkingTrack flatGroundWalkingTrack = new DRCFlatGroundWalkingTrack(robotInitialSetup, guiInitialSetup, scsInitialSetup, useVelocityAndHeadingScript, cheatWithGroundHeightAtForFootstep, robotModel, WalkingProvider.VELOCITY_HEADING_COMPONENT, walkingScriptParameters); SimulationConstructionSet scs = flatGroundWalkingTrack.getSimulationConstructionSet(); if (USE_JOYSTICK_CONTROLLER) { setupJoyStick(scs); flatGroundWalkingTrack.getAvatarSimulation().start(); flatGroundWalkingTrack.getAvatarSimulation().simulate(); } }
public static void main(String[] args) { boolean USE_JOYSTICK_CONTROLLER = Joystick.isAJoystickConnectedToSystem(); BonoRobotModel robotModel = new BonoRobotModel(false, false); DRCGuiInitialSetup guiInitialSetup = new DRCGuiInitialSetup(true, false); final double groundHeight = 0.0; GroundProfile3D groundProfile = new FlatGroundProfile(groundHeight); DRCSCSInitialSetup scsInitialSetup = new DRCSCSInitialSetup(groundProfile, robotModel.getSimulateDT()); scsInitialSetup.setDrawGroundProfile(true); scsInitialSetup.setInitializeEstimatorToActual(true); double initialYaw = 0.3; DRCRobotInitialSetup<HumanoidFloatingRootJointRobot> robotInitialSetup = robotModel.getDefaultRobotInitialSetup(groundHeight, initialYaw); boolean useVelocityAndHeadingScript = !USE_JOYSTICK_CONTROLLER; boolean cheatWithGroundHeightAtForFootstep = false; HeadingAndVelocityEvaluationScriptParameters walkingScriptParameters = new HeadingAndVelocityEvaluationScriptParameters(); DRCFlatGroundWalkingTrack flatGroundWalkingTrack = new DRCFlatGroundWalkingTrack(robotInitialSetup, guiInitialSetup, scsInitialSetup, useVelocityAndHeadingScript, cheatWithGroundHeightAtForFootstep, robotModel, WalkingProvider.VELOCITY_HEADING_COMPONENT, walkingScriptParameters); SimulationConstructionSet scs = flatGroundWalkingTrack.getSimulationConstructionSet(); if (USE_JOYSTICK_CONTROLLER) { setupJoyStick(scs); flatGroundWalkingTrack.getAvatarSimulation().start(); flatGroundWalkingTrack.getAvatarSimulation().simulate(); } }
flatGroundWalkingTrack.getAvatarSimulation().simulate();
useVelocityAndHeadingScript, cheatWithGroundHeightAtForFootstep, robotModel); flatGroundWalkingTrack.getAvatarSimulation().start(); flatGroundWalkingTrack.getAvatarSimulation().simulate(); SimulationConstructionSet scs = flatGroundWalkingTrack.getSimulationConstructionSet();