How to use

simulate

method

in

us.ihmc.avatar.factory.AvatarSimulation

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();