private void initializeSimulationConstructionSet() { humanoidFloatingRootJointRobot.setDynamicIntegrationMethod(scsInitialSetup.get().getDynamicIntegrationMethod()); scsInitialSetup.get().initializeSimulation(simulationConstructionSet); if (guiInitialSetup.get().isGuiShown()) { SimulationOverheadPlotterFactory simulationOverheadPlotterFactory = simulationConstructionSet.createSimulationOverheadPlotterFactory(); simulationOverheadPlotterFactory.setShowOnStart(guiInitialSetup.get().isShowOverheadView()); simulationOverheadPlotterFactory.setVariableNameToTrack("centerOfMass"); simulationOverheadPlotterFactory.addYoGraphicsListRegistries(controllerThread.getDynamicGraphicObjectsListRegistry()); simulationOverheadPlotterFactory.addYoGraphicsListRegistries(stateEstimationThread.getDynamicGraphicObjectsListRegistry()); simulationOverheadPlotterFactory.addYoGraphicsListRegistries(actualCMPComputer.getYoGraphicsListRegistry()); simulationOverheadPlotterFactory.createOverheadPlotter(); guiInitialSetup.get().initializeGUI(simulationConstructionSet, humanoidFloatingRootJointRobot, robotModel.get()); } if (commonAvatarEnvironment.get() != null && commonAvatarEnvironment.get().getTerrainObject3D() != null) { simulationConstructionSet.addStaticLinkGraphics(commonAvatarEnvironment.get().getTerrainObject3D().getLinkGraphics()); } scsInitialSetup.get().initializeRobot(humanoidFloatingRootJointRobot, robotModel.get(), null); robotInitialSetup.get().initializeRobot(humanoidFloatingRootJointRobot, robotModel.get().getJointMap()); humanoidFloatingRootJointRobot.update(); }
private void startSCS() { scs.addYoVariableRegistry(registry); scs.addYoGraphicsListRegistry(graphicsListRegistry); scs.setPlaybackRealTimeRate(0.025); Graphics3DObject linkGraphics = new Graphics3DObject(); linkGraphics.addCoordinateSystem(0.3); scs.addStaticLinkGraphics(linkGraphics); scs.setCameraFix(0.0, 0.0, 0.5); scs.setCameraPosition(-0.5, 0.0, 1.0); SimulationOverheadPlotterFactory simulationOverheadPlotterFactory = scs.createSimulationOverheadPlotterFactory(); simulationOverheadPlotterFactory.addYoGraphicsListRegistries(graphicsListRegistry); simulationOverheadPlotterFactory.createOverheadPlotter(); scs.startOnAThread(); }
scs.attachPlaybackListener(createYoGraphicsUpdater(yoGraphicsListRegistry)); SimulationOverheadPlotterFactory simulationOverheadPlotterFactory = scs.createSimulationOverheadPlotterFactory(); simulationOverheadPlotterFactory.setShowOnStart(showOverheadView); simulationOverheadPlotterFactory.addYoGraphicsListRegistries(yoGraphicsListRegistry); simulationOverheadPlotterFactory.createOverheadPlotter(); scs.getRootRegistry().addChild(parser.getRootRegistry()); scs.setGroundVisible(false);
scs.addYoGraphicsListRegistry(yoGraphicsListRegistry, false); SimulationOverheadPlotterFactory simulationOverheadPlotterFactory = scs.createSimulationOverheadPlotterFactory(); simulationOverheadPlotterFactory.setShowOnStart(showOverheadView); simulationOverheadPlotterFactory.addYoGraphicsListRegistries(yoGraphicsListRegistry);
scs.attachPlaybackListener(createYoGraphicsUpdater(yoGraphicsListRegistry)); SimulationOverheadPlotterFactory simulationOverheadPlotterFactory = scs.createSimulationOverheadPlotterFactory(); simulationOverheadPlotterFactory.setShowOnStart(showOverheadView); simulationOverheadPlotterFactory.addYoGraphicsListRegistries(yoGraphicsListRegistry); simulationOverheadPlotterFactory.createOverheadPlotter(); scs.getRootRegistry().addChild(parser.getRootRegistry()); scs.setParameterRootPath(parser.getRootRegistry());
simulationOverheadPlotterFactory.setShowOnStart(showOverheadView); simulationOverheadPlotterFactory.addYoGraphicsListRegistries(yoGraphicsListRegistry); scs.addYoGraphicsListRegistry(yoGraphicsListRegistry); scs.setDT(simulateDT, recordFrequency);
SimulationConstructionSet scs = new SimulationConstructionSet(robot); SimulationOverheadPlotterFactory plotterFactory = scs.createSimulationOverheadPlotterFactory(); plotterFactory.addYoGraphicsListRegistries(yoGraphicsListRegistry); plotterFactory.createOverheadPlotter(); scs.setCameraTracking(true, true, true, true); scs.addYoVariableRegistry(registry);
private void initializeSimulationConstructionSet() { simulationConstructionSet.setParameterRootPath(threadedRobotController.getYoVariableRegistry()); humanoidFloatingRootJointRobot.setDynamicIntegrationMethod(scsInitialSetup.get().getDynamicIntegrationMethod()); scsInitialSetup.get().initializeSimulation(simulationConstructionSet); if (guiInitialSetup.get().isGuiShown()) { SimulationOverheadPlotterFactory simulationOverheadPlotterFactory = simulationConstructionSet.createSimulationOverheadPlotterFactory(); simulationOverheadPlotterFactory.setShowOnStart(guiInitialSetup.get().isShowOverheadView()); simulationOverheadPlotterFactory.setVariableNameToTrack("centerOfMass"); simulationOverheadPlotterFactory.addYoGraphicsListRegistries(controllerThread.getYoGraphicsListRegistry()); simulationOverheadPlotterFactory.addYoGraphicsListRegistries(stateEstimationThread.getYoGraphicsListRegistry()); simulationOverheadPlotterFactory.addYoGraphicsListRegistries(actualCMPComputer.getYoGraphicsListRegistry()); simulationOverheadPlotterFactory.createOverheadPlotter(); guiInitialSetup.get().initializeGUI(simulationConstructionSet, humanoidFloatingRootJointRobot, robotModel.get()); } if (commonAvatarEnvironment.get() != null && commonAvatarEnvironment.get().getTerrainObject3D() != null) { simulationConstructionSet.addStaticLinkGraphics(commonAvatarEnvironment.get().getTerrainObject3D().getLinkGraphics()); } scsInitialSetup.get().initializeRobot(humanoidFloatingRootJointRobot, robotModel.get(), null); robotInitialSetup.get().initializeRobot(humanoidFloatingRootJointRobot, robotModel.get().getJointMap()); humanoidFloatingRootJointRobot.update(); }
scs.addYoGraphicsListRegistry(yoGraphicsListRegistry, false); SimulationOverheadPlotterFactory simulationOverheadPlotterFactory = scs.createSimulationOverheadPlotterFactory(); simulationOverheadPlotterFactory.setShowOnStart(showOverheadView); simulationOverheadPlotterFactory.addYoGraphicsListRegistries(yoGraphicsListRegistry); simulationOverheadPlotterFactory.createOverheadPlotter();
simulationOverheadPlotterFactory.setShowOnStart(showOverheadView); simulationOverheadPlotterFactory.addYoGraphicsListRegistries(yoGraphicsListRegistry); scs.addYoGraphicsListRegistry(yoGraphicsListRegistry); scs.setDT(simulateDT, recordFrequency);
scs.setCameraDollyOffsets(4.0, 4.0, 1.0); SimulationOverheadPlotterFactory simulationOverheadPlotterFactory = scs.createSimulationOverheadPlotterFactory(); simulationOverheadPlotterFactory.setVariableNameToTrack("centerOfMass"); simulationOverheadPlotterFactory.addYoGraphicsListRegistries(yoGraphicsListRegistry); simulationOverheadPlotterFactory.setShowOnStart(showPlotter.get()); simulationOverheadPlotterFactory.createOverheadPlotter();
simulationOverheadPlotterFactory.setVariableNameToTrack("centroidGraphic"); simulationOverheadPlotterFactory.setShowOnStart(showOverheadView); simulationOverheadPlotterFactory.addYoGraphicsListRegistries(yoGraphicsListRegistry); simulationOverheadPlotterFactory.createOverheadPlotter(); scs.addYoGraphicsListRegistry(yoGraphicsListRegistry); scs.setDT(simulateDT, recordFrequency);