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 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.setCameraDollyOffsets(4.0, 4.0, 1.0); SimulationOverheadPlotterFactory simulationOverheadPlotterFactory = scs.createSimulationOverheadPlotterFactory(); simulationOverheadPlotterFactory.setVariableNameToTrack("centerOfMass"); simulationOverheadPlotterFactory.addYoGraphicsListRegistries(yoGraphicsListRegistry); simulationOverheadPlotterFactory.setShowOnStart(showPlotter.get());
simulationOverheadPlotterFactory.setVariableNameToTrack("centroidGraphic"); simulationOverheadPlotterFactory.setShowOnStart(showOverheadView); simulationOverheadPlotterFactory.addYoGraphicsListRegistries(yoGraphicsListRegistry);