@Override public void run() { while (true) { coactiveElement.updateMachineSide(); scs.tickAndUpdate(); sleep(millisecondsBetweenDataWrites); } } };
@Override public void run() { while (true) { coactiveElement.updateUserInterfaceSide(); if (showSCS) scs.tickAndUpdate(); sleep(millisecondsBetweenDataWrites); } } };
@Override public void run() { while (true) { coactiveElement.updateMachineSide(); scs.tickAndUpdate(); sleep(millisecondsBetweenDataWrites); } } };
public void addFootstepsAndTickAndUpdate(SimulationConstructionSet scs, List<Footstep> footsteps, List<ContactablePlaneBody> contactablePlaneBodies) { for (int i = 0; i < footsteps.size(); i++) { Footstep footstep = footsteps.get(i); ContactablePlaneBody contactablePlaneBody = contactablePlaneBodies.get(i); addFootstep(footstep, contactablePlaneBody); scs.tickAndUpdate(); } }
@Override public void run() { while (true) { coactiveElement.updateUserInterfaceSide(); if (showSCS) scs.tickAndUpdate(); sleep(millisecondsBetweenDataWrites); } } };
@Override public void didAnInverseKinemticsStep(double errorScalar) { yoErrorScalar.set(errorScalar); jointAnglesWriter.updateRobotConfigurationBasedOnFullRobotModel(); scs.tickAndUpdate(); } };
@Override public void receivedTimestampAndData(long timestamp, ByteBuffer buffer) { long delay = TimeTools.nanoSecondsToMillis(lastTimestamp - timestamp); delayValue.setText(delayFormat.format(delay)); if (recording) { for (int i = 0; i < jointUpdaters.size(); i++) { jointUpdaters.get(i).update(); } scs.setTime(TimeTools.nanoSecondstoSeconds(timestamp)); scs.tickAndUpdate(); } }
@Override public void receivedTimestampAndData(long timestamp, ByteBuffer buffer) { long delay = TimeTools.nanoSecondsToMillis(lastTimestamp - timestamp); delayValue.setText(delayFormat.format(delay)); if (recording) { for (int i = 0; i < jointUpdaters.size(); i++) { jointUpdaters.get(i).update(); } scs.setTime(TimeTools.nanoSecondstoSeconds(timestamp)); scs.tickAndUpdate(); } }
@Override public void receivedTimestampAndData(long timestamp) { if(++counter % displayOneInNPackets == 0) { long delay = Conversions.nanosecondsToMilliseconds(lastTimestamp - timestamp); delayValue.setText(delayFormat.format(delay)); for (int i = 0; i < jointUpdaters.size(); i++) { jointUpdaters.get(i).update(); } scs.setTime(Conversions.nanosecondsToSeconds(timestamp)); updateLocalVariables(); scs.tickAndUpdate(); } }
@Override public void tickAndUpdate() { scs.setTime(time.getDoubleValue()); scs.tickAndUpdate(); time.add(1.0); }
public void startVisualizer() { scs.addYoGraphicsListRegistry(yoGraphicsListRegistry); scs.addYoVariableRegistry(registry); scs.setupGraphGroup("step times", new String[][] { {"t"} }); scs.startOnAThread(); scs.tickAndUpdate(); }
public void startVisualizer() { scs.addYoGraphicsListRegistry(yoGraphicsListRegistry); scs.addYoVariableRegistry(registry); scs.setupGraphGroup("step times", new String[][] { {"t"} }); scs.startOnAThread(); scs.tickAndUpdate(); }
public void variableChanged(YoVariable yoVariable) { PlaybackPose pose = new PlaybackPose(fullRobotModelForSlider, sdfRobot); if (previousPose != null) { if (pose.epsilonEquals(previousPose, 1e-3, 1.0)) { return; } } System.out.println("Adding pose to sequence list: " + pose); posePlaybackRobotPoseSequence.addPose(pose); // FramePoint location = new FramePoint(ReferenceFrame.getWorldFrame(), Math.random(), Math.random(), Math.random()); // balls.setBall(location); double dt = 0.01; double morphTime = 1.0; for (double time = 0.0; time < morphTime; time = time + dt) { scs.setTime(time); scs.tickAndUpdate(); } previousPose = pose; }
private void updateVisualizePerTick() { updateCoMTrack(); updateICPTrack(); updateCMPTrack(); updateCoPTrack(); updatePositionGraphics(); scs.tickAndUpdate(); }
public void addPlanarRegionsList(PlanarRegionsList planarRegions, AppearanceDefinition... appearances) { Graphics3DObject graphics3DObject = new Graphics3DObject(); Graphics3DObjectTools.addPlanarRegionsList(graphics3DObject, planarRegions, appearances); scs.addStaticLinkGraphics(graphics3DObject); scs.setTime(scs.getTime() + 1.0); scs.tickAndUpdate(); }
public void addPolygon(RigidBodyTransform transform, ConvexPolygon2D polygon, AppearanceDefinition appearance) { Graphics3DObject graphics3DObject = new Graphics3DObject(); graphics3DObject.transform(transform); graphics3DObject.addPolygon(polygon, appearance); scs.addStaticLinkGraphics(graphics3DObject); scs.setTime(scs.getTime() + 1.0); scs.tickAndUpdate(); }
private void playLoadedSequence() { PlaybackPose morphedPose = interpolator.getPose(frameByframeTime); while (!interpolator.isDone()) { frameByframeTime = frameByframeTime + controlDT; morphedPose = interpolator.getPose(frameByframeTime); previousPose = morphedPose; scs.setTime(frameByframeTime); scs.tickAndUpdate(); //morphedPose.setRobotAtPose(sdfRobot);//don't update scs while playing back and connected to gazebo to avoid slider actuation delays { System.out.println("pose #: " + frameByframePoseNumber++ + " \t pausing for " + interpolator.getNextTransitionTimeDelay()); if (playOnlyOnePose) { morphedPose.setRobotAtPose(sdfRobot);// make sure scs ends in last pose return; } } ThreadTools.sleep((long) (controlDT * 1000)); } morphedPose.setRobotAtPose(sdfRobot);// make sure scs ends in last pose System.out.println("End of Play back"); }
private void update(double dt) { solePose.setFromReferenceFrame(swingOverPlanarRegionsTrajectoryExpander.getSolePoseReferenceFrame()); for (SwingOverPlanarRegionsTrajectoryCollisionType swingOverPlanarRegionsTrajectoryCollisionType : SwingOverPlanarRegionsTrajectoryCollisionType.values()) { intersectionMap.get(swingOverPlanarRegionsTrajectoryCollisionType) .setPosition(swingOverPlanarRegionsTrajectoryExpander.getClosestPolygonPoint(swingOverPlanarRegionsTrajectoryCollisionType)); } double sphereRadius = swingOverPlanarRegionsTrajectoryExpander.getSphereRadius(); collisionSphere.setRadii(new Vector3D(sphereRadius, sphereRadius, sphereRadius)); collisionSphere.update(); scs.tickAndUpdate(scs.getTime() + dt); }
public void visualizeFootstep(ContactablePlaneBody bipedFoot, Footstep footstep) { bagOfSingleFootstepVisualizers.visualizeFootstep(footstep, bipedFoot); nullRobot.setTime(nullRobot.getTime() + scs.getDT()); FramePoint solePositon = new FramePoint(footstep.getSoleReferenceFrame()); solePositon.changeFrame(worldFrame); updateFocus(solePositon); scs.setCameraFix(focusX, focusY, 0.0); scs.setCameraPosition(focusX, focusY - 1.5, 6.0); scs.tickAndUpdate(); }
public void visualizeFootstep(ContactablePlaneBody bipedFoot, Footstep footstep) { bagOfSingleFootstepVisualizers.visualizeFootstep(footstep, bipedFoot); nullRobot.setTime(nullRobot.getTime() + scs.getDT()); FramePoint3D solePositon = new FramePoint3D(footstep.getSoleReferenceFrame()); solePositon.changeFrame(worldFrame); updateFocus(solePositon); scs.setCameraFix(focusX, focusY, 0.0); scs.setCameraPosition(focusX, focusY - 1.5, 6.0); scs.tickAndUpdate(); }