us.ihmc.avatar.drcRobot.DRCRobotModel.createHumanoidFloatingRootJointRobot java code examples

private void createHumanoidFloatingRootJointRobot()
{
 humanoidFloatingRootJointRobot = robotModel.get().createHumanoidFloatingRootJointRobot(createCollisionMeshes.get());
}

private void createHumanoidFloatingRootJointRobot()
{
 humanoidFloatingRootJointRobot = robotModel.get().createHumanoidFloatingRootJointRobot(createCollisionMeshes.get());
}

@ContinuousIntegrationTest(estimatedDuration = 4.6)
@Test(timeout = 30000)
public void testLoadingAndPlayingAnotherSequence()
{
 DRCRobotModel robotModel = getRobotModel();
 FullHumanoidRobotModel fullRobotModel = robotModel.createFullRobotModel();
 HumanoidFloatingRootJointRobot sdfRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
 
 PlaybackPoseSequence sequence = new PlaybackPoseSequence(fullRobotModel);
 PlaybackPoseSequenceReader.appendFromFile(sequence, getClass().getClassLoader().getResourceAsStream("tenPoses.poseSequence"));
 System.out.println(sequence);
 
 PoseInterpolatorPlaybacker.playASequence(sdfRobot, sequence, SHOW_GUI, new PoseCheckerCallback()
 {
   @Override
   public void checkPose(PlaybackPose pose, PlaybackPose previousPose)
   {
    assertSmallPoseDifference(pose, previousPose);
   }
 });
}

  public DRCInverseDynamicsCalculatorTestHelper createInverseDynamicsCalculatorTestHelper(boolean visualize, double gravityZ)
  {
   DRCRobotModel drcRobotModel = getRobotModel();
   FullHumanoidRobotModel fullRobotModel = drcRobotModel.createFullRobotModel();

   boolean createCollisionMeshes = false;
   boolean enableJointDamping = false;
   HumanoidFloatingRootJointRobot robot = drcRobotModel.createHumanoidFloatingRootJointRobot(createCollisionMeshes, enableJointDamping);
   robot.setGravity(gravityZ);

   return new DRCInverseDynamicsCalculatorTestHelper(fullRobotModel, robot, visualize, gravityZ);
  }
}

@ContinuousIntegrationTest(estimatedDuration = 3.8)
@Test(timeout = 30000)
public void testLoadingAndPlayingASequence()
{
 DRCRobotModel robotModel = getRobotModel();
 FullHumanoidRobotModel fullRobotModel = robotModel.createFullRobotModel();
 HumanoidFloatingRootJointRobot sdfRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
 
 PlaybackPoseSequence sequence = new PlaybackPoseSequence(fullRobotModel);
 PlaybackPoseSequenceReader.appendFromFile(sequence, getClass().getClassLoader().getResourceAsStream("testSequence2.poseSequence"));
 
 PoseInterpolatorPlaybacker.playASequence(sdfRobot, sequence, SHOW_GUI, new PoseCheckerCallback()
 {
   @Override
   public void checkPose(PlaybackPose pose, PlaybackPose previousPose)
   {
    assertSmallPoseDifference(pose, previousPose);
   }
 });
}

  public static void main(String[] args)
  {
      final SimulationConstructionSet scs;

   // initialize SCS
   DRCRobotModel robotModel = new ValkyrieRobotModel(RobotTarget.REAL_ROBOT, false);
   final FloatingRootJointRobot robot =robotModel.createHumanoidFloatingRootJointRobot(false);
   
   SimulationConstructionSetParameters parameters = new SimulationConstructionSetParameters();
   parameters.setDataBufferSize(65536);
   scs = new SimulationConstructionSet(robot, parameters);

   // add sysid button
   JButton button = new JButton("findCOM");
   button.addActionListener(new LinkComIDActionListener(scs.getDataBuffer(), robot));
   scs.addButton(button);
   scs.startOnAThread();

  }
}

@ContinuousIntegrationTest(estimatedDuration = 1.2)
@Test(timeout = 30000)
public void testRandomExample()
{
 DRCRobotModel robotModel = getRobotModel();
 FullHumanoidRobotModel fullRobotModel = robotModel.createFullRobotModel();
 HumanoidFloatingRootJointRobot sdfRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
 
 int numberOfPoses = 5;
 double delay = 0.3;
 double trajectoryTime = 1.0;
 
 Random random = new Random(1776L);
 PlaybackPoseSequence sequence = PosePlaybackExampleSequence.createRandomPlaybackPoseSequence(random, fullRobotModel, numberOfPoses, delay, trajectoryTime);
 //sequence.writeToOutputStream(fullRobotModel, System.out);
 PoseInterpolatorPlaybacker.playASequence(sdfRobot, sequence, SHOW_GUI, new PoseCheckerCallback()
 {
   @Override
   public void checkPose(PlaybackPose pose, PlaybackPose previousPose)
   {
    assertSmallPoseDifference(pose, previousPose);
   }
 });
}

  public static void main(String[] args) throws IOException
  {
   DRCRobotModel robotModel = new ValkyrieRobotModel(RobotTarget.SCS, false);
   
   DRCRobotJointMap jointMap = robotModel.getJointMap();
   HumanoidFloatingRootJointRobot sdfRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
   FullHumanoidRobotModel fullRobotModel = robotModel.createFullRobotModel();
   FullHumanoidRobotModel fullRobotModelForSlider = robotModel.createFullRobotModel();
     new PosePlaybackSCSBridge(sdfRobot, fullRobotModel, fullRobotModelForSlider, robotModel.getControllerDT());
    }
}

@ContinuousIntegrationTest(estimatedDuration = 4.0)
@Test(timeout = 30000)
public void testMoveElbowExample()
{
 DRCRobotModel robotModel = getRobotModel();
 FullHumanoidRobotModel fullRobotModel = robotModel.createFullRobotModel();
 HumanoidFloatingRootJointRobot sdfRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
 double delay = 0.3;
 double trajectoryTime = 1.0;
 
 PlaybackPoseSequence sequence = PosePlaybackExampleSequence.createExamplePoseSequenceMoveArm(fullRobotModel, delay, trajectoryTime);
 
 PoseInterpolatorPlaybacker.playASequence(sdfRobot, sequence, SHOW_GUI, new PoseCheckerCallback()
 {
   @Override
   public void checkPose(PlaybackPose pose, PlaybackPose previousPose)
   {
    assertSmallPoseDifference(pose, previousPose);
   }
 });
}

public PoseSequenceSelectorPanel(DRCRobotModel robotModel)
{
 super(new GridLayout(1, 0));
 registry = new YoVariableRegistry("PoseSequenceGUI");
 fullRobotModel = robotModel.createFullRobotModel();
 sdfRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
 sequence = new PlaybackPoseSequence(fullRobotModel);
 
 HumanoidReferenceFrames referenceFrames = new HumanoidReferenceFrames(fullRobotModel);
 SDFPerfectSimulatedSensorReader reader = new SDFPerfectSimulatedSensorReader(sdfRobot, fullRobotModel, referenceFrames);
 ModularRobotController controller = new ModularRobotController("Reader");
 controller.setRawSensorReader(reader);
 SimulationConstructionSet scs = new SimulationConstructionSet(sdfRobot);
 scs.addYoVariableRegistry(registry);
 scs.startOnAThread();
 sliderBoard = new DRCRobotMidiSliderBoardPositionManipulation(scs, sdfRobot, fullRobotModel, null);
 String[] columnNames = new String[] { "#", "sy", "sp", "sr", "neck", "lhy", "lhr", "lhp", "lk", "lap", "lar", "rhy", "rhr", "rhp", "rk", "rap", "rar",
    "lsp", "lsr", "lep", "ler", "lwp", "lwr", "rsp", "rsr", "rep", "rer", "rwp", "rwr", "pause" };
 tableModel = new DefaultTableModel(columnNames, 0); // new ScriptEditorTableModel();
 table = new JTable(tableModel);
 tableInit();
}

public PoseSequenceSelectorPanel(DRCRobotModel robotModel)
{
 super(new GridLayout(1, 0));
 registry = new YoVariableRegistry("PoseSequenceGUI");
 fullRobotModel = robotModel.createFullRobotModel();
 sdfRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
 sequence = new PlaybackPoseSequence(fullRobotModel);
 
 HumanoidReferenceFrames referenceFrames = new HumanoidReferenceFrames(fullRobotModel);
 SDFPerfectSimulatedSensorReader reader = new SDFPerfectSimulatedSensorReader(sdfRobot, fullRobotModel, referenceFrames);
 ModularRobotController controller = new ModularRobotController("Reader");
 controller.setRawSensorReader(reader);
 SimulationConstructionSet scs = new SimulationConstructionSet(sdfRobot);
 scs.addYoVariableRegistry(registry);
 scs.startOnAThread();
 sliderBoard = new DRCRobotMidiSliderBoardPositionManipulation(scs, sdfRobot, fullRobotModel, null);
 String[] columnNames = new String[] { "#", "sy", "sp", "sr", "neck", "lhy", "lhr", "lhp", "lk", "lap", "lar", "rhy", "rhr", "rhp", "rk", "rap", "rar",
    "lsp", "lsr", "lep", "ler", "lwp", "lwr", "rsp", "rsr", "rep", "rer", "rwp", "rwr", "pause" };
 tableModel = new DefaultTableModel(columnNames, 0); // new ScriptEditorTableModel();
 table = new JTable(tableModel);
 tableInit();
}

private FullHumanoidRobotModel createFullRobotModelAtInitialConfiguration()
{
 DRCRobotModel robotModel = getRobotModel();
 FullHumanoidRobotModel initialFullRobotModel = robotModel.createFullRobotModel();
 HumanoidFloatingRootJointRobot robot = robotModel.createHumanoidFloatingRootJointRobot(false);
 robotModel.getDefaultRobotInitialSetup(0.0, 0.0).initializeRobot(robot, robotModel.getJointMap());
 DRCPerfectSensorReaderFactory drcPerfectSensorReaderFactory = new DRCPerfectSensorReaderFactory(robot, null, 0);
 drcPerfectSensorReaderFactory.build(initialFullRobotModel.getRootJoint(), null, null, null, null, null, null);
 drcPerfectSensorReaderFactory.getSensorReader().read();
 return initialFullRobotModel;
}

private FullHumanoidRobotModel createFullRobotModelAtInitialConfiguration()
{
 DRCRobotModel robotModel = getRobotModel();
 FullHumanoidRobotModel initialFullRobotModel = robotModel.createFullRobotModel();
 HumanoidFloatingRootJointRobot robot = robotModel.createHumanoidFloatingRootJointRobot(false);
 robotModel.getDefaultRobotInitialSetup(0.0, 0.0).initializeRobot(robot, robotModel.getJointMap());
 DRCPerfectSensorReaderFactory drcPerfectSensorReaderFactory = new DRCPerfectSensorReaderFactory(robot, null, 0);
 drcPerfectSensorReaderFactory.build(initialFullRobotModel.getRootJoint(), null, null, null, null, null, null);
 drcPerfectSensorReaderFactory.getSensorReader().read();
 return initialFullRobotModel;
}

protected FullHumanoidRobotModel createFullRobotModelAtInitialConfiguration()
{
 DRCRobotModel robotModel = getRobotModel();
 FullHumanoidRobotModel initialFullRobotModel = robotModel.createFullRobotModel();
 HumanoidFloatingRootJointRobot robot = robotModel.createHumanoidFloatingRootJointRobot(false);
 robotModel.getDefaultRobotInitialSetup(0.0, 0.0).initializeRobot(robot, robotModel.getJointMap());
 DRCPerfectSensorReaderFactory drcPerfectSensorReaderFactory = new DRCPerfectSensorReaderFactory(robot, null, 0);
 drcPerfectSensorReaderFactory.build(initialFullRobotModel.getRootJoint(), null, null, null, null, null, null);
 drcPerfectSensorReaderFactory.getSensorReader().read();
 return initialFullRobotModel;
}

public VisualizePoseWorkspace(DRCRobotModel robotModel) throws IOException
{
 this.controlDT = robotModel.getControllerDT();
 
 DRCRobotJointMap jointMap = robotModel.getJointMap();
 HumanoidFloatingRootJointRobot sdfRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
 interpolator = new PlaybackPoseInterpolator(registry);
 SimulationConstructionSet scs = new SimulationConstructionSet(sdfRobot);
 scs.addYoVariableRegistry(registry);
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 fullRobotModelForSlider = robotModel.createFullRobotModel();
 DRCRobotMidiSliderBoardPositionManipulation sliderBoard = new DRCRobotMidiSliderBoardPositionManipulation(scs, sdfRobot, fullRobotModelForSlider, yoGraphicsListRegistry);
 posePlaybackRobotPoseSequence = new PlaybackPoseSequence(fullRobotModelForSlider);
 
 CaptureSnapshotListener captureSnapshotListener = new CaptureSnapshotListener(sdfRobot, scs);
 sliderBoard.addCaptureSnapshotListener(captureSnapshotListener);
 SaveSequenceListener saveSequenceListener = new SaveSequenceListener();
 sliderBoard.addSaveSequenceRequestedListener(saveSequenceListener);
 LoadSequenceListener loadSequenceListener = new LoadSequenceListener(fullRobotModelForSlider, sdfRobot, scs);
 sliderBoard.addLoadSequenceRequestedListener(loadSequenceListener);
 
 
 scs.startOnAThread();
}

public VisualizePoseWorkspace(DRCRobotModel robotModel) throws IOException
{
 this.controlDT = robotModel.getControllerDT();
 
 DRCRobotJointMap jointMap = robotModel.getJointMap();
 HumanoidFloatingRootJointRobot sdfRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
 interpolator = new PlaybackPoseInterpolator(registry);
 SimulationConstructionSet scs = new SimulationConstructionSet(sdfRobot);
 scs.addYoVariableRegistry(registry);
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 fullRobotModelForSlider = robotModel.createFullRobotModel();
 DRCRobotMidiSliderBoardPositionManipulation sliderBoard = new DRCRobotMidiSliderBoardPositionManipulation(scs, sdfRobot, fullRobotModelForSlider, yoGraphicsListRegistry);
 posePlaybackRobotPoseSequence = new PlaybackPoseSequence(fullRobotModelForSlider);
 
 CaptureSnapshotListener captureSnapshotListener = new CaptureSnapshotListener(sdfRobot, scs);
 sliderBoard.addCaptureSnapshotListener(captureSnapshotListener);
 SaveSequenceListener saveSequenceListener = new SaveSequenceListener();
 sliderBoard.addSaveSequenceRequestedListener(saveSequenceListener);
 LoadSequenceListener loadSequenceListener = new LoadSequenceListener(fullRobotModelForSlider, sdfRobot, scs);
 sliderBoard.addLoadSequenceRequestedListener(loadSequenceListener);
 
 
 scs.startOnAThread();
}

                          mainRegistry);
robot = robotModel.createHumanoidFloatingRootJointRobot(false);
toolboxUpdater = createToolboxUpdater();
robot.setController(toolboxUpdater);
robotDescription.setName("Ghost");
KinematicsToolboxControllerTest.recursivelyModifyGraphics(robotDescription.getChildrenJoints().get(0), ghostApperance);
ghost = ghostRobotModel.createHumanoidFloatingRootJointRobot(false);
ghost.setDynamic(false);
ghost.setGravity(0);

public AutomatedDiagnosticConfiguration createDiagnosticController(boolean startWithRobotAlive)
{
 simulatedRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
 DiagnosticLoggerConfiguration.setupLogging(simulatedRobot.getYoTime(), getClass(), robotModel.getSimpleRobotName());
 if (robotInitialSetup == null)
   robotInitialSetup = robotModel.getDefaultRobotInitialSetup(0.0, 0.0);
 robotInitialSetup.initializeRobot(simulatedRobot, robotModel.getJointMap());
 FullHumanoidRobotModel fullRobotModel = robotModel.createFullRobotModel();
 WalkingControllerParameters walkingControllerParameters = robotModel.getWalkingControllerParameters();
 DoubleYoVariable yoTime = simulatedRobot.getYoTime();
 double dt = robotModel.getEstimatorDT();
 StateEstimatorParameters stateEstimatorParameters = robotModel.getStateEstimatorParameters();
 if (diagnosticParameters == null)
   diagnosticParameters = new DiagnosticParameters(DiagnosticEnvironment.RUNTIME_CONTROLLER, false);
 DiagnosticSensorProcessingConfiguration sensorProcessingConfiguration = new DiagnosticSensorProcessingConfiguration(diagnosticParameters, stateEstimatorParameters);
 SensorOutputMapReadOnly sensorOutputMap = createStateEstimator(fullRobotModel, stateEstimatorParameters, sensorProcessingConfiguration);
 DiagnosticControllerToolbox diagnosticControllerToolbox = new DiagnosticControllerToolbox(fullRobotModel, sensorOutputMap, diagnosticParameters, walkingControllerParameters, yoTime, dt,
    sensorProcessingConfiguration, simulationRegistry);
 automatedDiagnosticAnalysisController = new AutomatedDiagnosticAnalysisController(diagnosticControllerToolbox, gainStream, setpointStream,
    simulationRegistry);
 automatedDiagnosticAnalysisController.setRobotIsAlive(startWithRobotAlive);
 automatedDiagnosticConfiguration = new AutomatedDiagnosticConfiguration(diagnosticControllerToolbox, automatedDiagnosticAnalysisController);
 outputWriter = new DRCSimulationOutputWriter(simulatedRobot);
 outputWriter.setFullRobotModel(fullRobotModel, null);
 int simulationTicksPerControlTick = (int) (robotModel.getEstimatorDT() / robotModel.getSimulateDT());
 simulatedRobot.setController(this, simulationTicksPerControlTick);
 return automatedDiagnosticConfiguration;
}

                               mainRegistry, yoGraphicsListRegistry, visualize);
robot = robotModel.createHumanoidFloatingRootJointRobot(false);
toolboxUpdater = createToolboxUpdater();
robot.setController(toolboxUpdater);
robotDescription.setName("Ghost");
KinematicsToolboxControllerTest.recursivelyModifyGraphics(robotDescription.getChildrenJoints().get(0), ghostApperance);
ghost = ghostRobotModel.createHumanoidFloatingRootJointRobot(false);
ghost.setDynamic(false);
ghost.setGravity(0);

public AutomatedDiagnosticConfiguration createDiagnosticController(boolean startWithRobotAlive)
{
 simulatedRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
 DiagnosticLoggerConfiguration.setupLogging(simulatedRobot.getYoTime(), getClass(), robotModel.getSimpleRobotName());
 if (robotInitialSetup == null)
   robotInitialSetup = robotModel.getDefaultRobotInitialSetup(0.0, 0.0);
 robotInitialSetup.initializeRobot(simulatedRobot, robotModel.getJointMap());
 FullHumanoidRobotModel fullRobotModel = robotModel.createFullRobotModel();
 WalkingControllerParameters walkingControllerParameters = robotModel.getWalkingControllerParameters();
 YoDouble yoTime = simulatedRobot.getYoTime();
 double dt = robotModel.getEstimatorDT();
 StateEstimatorParameters stateEstimatorParameters = robotModel.getStateEstimatorParameters();
 if (diagnosticParameters == null)
   diagnosticParameters = new DiagnosticParameters(DiagnosticEnvironment.RUNTIME_CONTROLLER, false);
 JointDesiredOutputList lowLevelOutput = new JointDesiredOutputList(fullRobotModel.getOneDoFJoints());
 DiagnosticSensorProcessingConfiguration sensorProcessingConfiguration = new DiagnosticSensorProcessingConfiguration(diagnosticParameters, stateEstimatorParameters, lowLevelOutput);
 SensorOutputMapReadOnly sensorOutputMap = createStateEstimator(fullRobotModel, stateEstimatorParameters, sensorProcessingConfiguration);
 DiagnosticControllerToolbox diagnosticControllerToolbox = new DiagnosticControllerToolbox(fullRobotModel, lowLevelOutput, sensorOutputMap, diagnosticParameters, walkingControllerParameters, yoTime, dt,
    sensorProcessingConfiguration, simulationRegistry);
 automatedDiagnosticAnalysisController = new AutomatedDiagnosticAnalysisController(diagnosticControllerToolbox, gainStream, setpointStream,
    simulationRegistry);
 automatedDiagnosticAnalysisController.setRobotIsAlive(startWithRobotAlive);
 automatedDiagnosticConfiguration = new AutomatedDiagnosticConfiguration(diagnosticControllerToolbox, automatedDiagnosticAnalysisController);
 lowLevelOutputWriter = new SimulatedLowLevelOutputWriter(simulatedRobot, false);
 lowLevelOutputWriter.setJointDesiredOutputList(lowLevelOutput);
 int simulationTicksPerControlTick = (int) (robotModel.getEstimatorDT() / robotModel.getSimulateDT());
 simulatedRobot.setController(this, simulationTicksPerControlTick);
 return automatedDiagnosticConfiguration;
}

How to use createHumanoidFloatingRootJointRobotmethodin us.ihmc.avatar.drcRobot.DRCRobotModel

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How to use
createHumanoidFloatingRootJointRobot
method
in
us.ihmc.avatar.drcRobot.DRCRobotModel