private AvatarSimulation createAvatarSimulation() { ContactableBodiesFactory contactableBodiesFactory = new ContactableBodiesFactory<>(); ArrayList additionalContactRigidBodyNames = contactPointParameters.getAdditionalContactRigidBodyNames(); ArrayList additionaContactNames = contactPointParameters.getAdditionalContactNames(); ArrayList additionalContactTransforms = contactPointParameters.getAdditionalContactTransforms(); contactableBodiesFactory.setFootContactPoints(contactPointParameters.getFootContactPoints()); contactableBodiesFactory.setToeContactParameters(contactPointParameters.getControllerToeContactPoints(), contactPointParameters.getControllerToeContactLines()); for (int i = 0; i < contactPointParameters.getAdditionalContactNames().size(); i++) contactableBodiesFactory.addAdditionalContactPoint(additionalContactRigidBodyNames.get(i), additionaContactNames.get(i), additionalContactTransforms.get(i)); DRCRobotSensorInformation sensorInformation = robotModel.getSensorInformation(); SideDependentList feetForceSensorNames = sensorInformation.getFeetForceSensorNames(); SideDependentList feetContactSensorNames = sensorInformation.getFeetContactSensorNames(); SideDependentList wristForceSensorNames = sensorInformation.getWristForceSensorNames(); controllerFactory = new HighLevelHumanoidControllerFactory(contactableBodiesFactory, feetForceSensorNames, feetContactSensorNames, wristForceSensorNames, highLevelControllerParameters, walkingControllerParameters, capturePointPlannerParameters); setupHighLevelStates(controllerFactory); controllerFactory.attachControllerFailureListeners(controllerFailureListeners); if (setupControllerNetworkSubscriber) controllerFactory.createControllerNetworkSubscriber(robotModel.getSimpleRobotName(), realtimeRos2Node); for (int i = 0; i < highLevelControllerFactories.size(); i++) controllerFactory.addCustomControlState(highLevelControllerFactories.get(i)); for (int i = 0; i < controllerTransitionFactories.size(); i++) controllerFactory.addCustomStateTransition(controllerTransitionFactories.get(i)); controllerFactory.setInitialState(HighLevelControllerName.WALKING); controllerFactory.createQueuedControllerCommandGenerator(controllerCommands); controllerFactory.setHeadingAndVelocityEvaluationScriptParameters(walkingScriptParameters); if (addFootstepMessageGenerator && cheatWithGroundHeightAtForFootstep) controllerFactory.createComponentBasedFootstepDataMessageGenerator(useHeadingAndVelocityScript, scsInitialSetup.getHeightMap()); else if (addFootstepMessageGenerator) 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(); HighLevelHumanoidControllerToolbox highLevelHumanoidControllerToolbox = controllerFactory.getHighLevelHumanoidControllerToolbox(); FullHumanoidRobotModel fullRobotModel = highLevelHumanoidControllerToolbox.getFullRobotModel(); scriptBasedControllerCommandGenerator = new ScriptBasedControllerCommandGenerator(controllerCommands, fullRobotModel); simulationConstructionSet = avatarSimulation.getSimulationConstructionSet(); sdfRobot = avatarSimulation.getHumanoidFloatingRootJointRobot(); simulationConstructionSet.setCameraPosition(scsCameraPosition.getX(), scsCameraPosition.getY(), scsCameraPosition.getZ()); simulationConstructionSet.setCameraFix(scsCameraFix.getX(), scsCameraFix.getY(), scsCameraFix.getZ()); return avatarSimulation; }

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