public DRCSimulationStarter(DRCRobotModel robotModel, CommonAvatarEnvironmentInterface environment) { this.robotModel = robotModel; this.environment = environment; this.guiInitialSetup = new DRCGuiInitialSetup(false, false); this.robotInitialSetup = robotModel.getDefaultRobotInitialSetup(0, 0); this.createSCSSimulatedSensors = true; scsInitialSetup = new DRCSCSInitialSetup(environment, robotModel.getSimulateDT()); scsInitialSetup.setInitializeEstimatorToActual(false); scsInitialSetup.setTimePerRecordTick(robotModel.getControllerDT()); scsInitialSetup.setRunMultiThreaded(true); this.walkingControllerParameters = robotModel.getWalkingControllerParameters(); this.armControllerParameters = robotModel.getArmControllerParameters(); this.capturePointPlannerParameters = robotModel.getCapturePointPlannerParameters(); this.icpOptimizationParameters = robotModel.getICPOptimizationParameters(); this.contactPointParameters = robotModel.getContactPointParameters(); }
RobotContactPointParameters contactPointParameters = model.getContactPointParameters(); CapturePointPlannerParameters capturePointPlannerParameters = model.getCapturePointPlannerParameters(); ICPOptimizationParameters icpOptimizationParameters = model.getICPOptimizationParameters(); ContactableBodiesFactory contactableBodiesFactory = contactPointParameters.getContactableBodiesFactory(); DRCRobotSensorInformation sensorInformation = model.getSensorInformation();
ArmControllerParameters armControllerParameters = model.getArmControllerParameters(); CapturePointPlannerParameters capturePointPlannerParameters = model.getCapturePointPlannerParameters(); ICPOptimizationParameters icpOptimizationParameters = model.getICPOptimizationParameters(); SideDependentList<String> feetContactSensorNames = sensorInformation.getFeetContactSensorNames(); SideDependentList<String> wristForceSensorNames = sensorInformation.getWristForceSensorNames();