def makeRobotSystem(view):
factory = robotsystem.ComponentFactory()
factory.register(robotsystem.RobotSystemFactory)
options = factory.getDisabledOptions()
factory.setDependentOptions(options,
useSegmentation=True,
useSegmentationAffordances=True)
robotSystem = factory.construct(view=view, options=options)
return robotSystem
def makeRobotSystem(view):
factory = robotsystem.ComponentFactory()
factory.register(robotsystem.RobotSystemFactory)
options = factory.getDisabledOptions()
factory.setDependentOptions(options, usePlannerPublisher=True, useTeleop=True, useSegmentation=True, useSegmentationAffordances=True)
robotSystem = factory.construct(view=view, options=options)
# use pydrake ik backend
ikPlanner = robotSystem.ikPlanner
ikPlanner.planningMode = 'pydrake'
ikPlanner.plannerPub._setupLocalServer()
# set default options
#robotSystem.playbackPanel.animateOnExecute = True
ikPlanner.addPostureGoalListener(robotSystem.robotStateJointController)
ikPlanner.getIkOptions().setProperty('Max joint degrees/s', 60)
ikPlanner.getIkOptions().setProperty('Use pointwise', False)
return robotSystem
app = ConsoleApp()
app.setupGlobals(globals())
if app.getTestingInteractiveEnabled():
app.showPythonConsole()
view = app.createView()
view.show()
testMinimalOptions = True
if testMinimalOptions:
factory = robotsystem.ComponentFactory()
factory.register(robotsystem.RobotSystemFactory)
options = factory.getDisabledOptions()
options.useDirectorConfig = True
config = drcargs.DirectorConfig.getDefaultInstance().getConfig()
robotSystem = factory.construct(view=view,
options=options,
robotName=config['robotName'])
else:
robotSystem = robotsystem.create(view)
def makeRobotSystem(view):
factory = robotsystem.ComponentFactory()
factory.register(robotsystem.RobotSystemFactory)
options = factory.getDisabledOptions()
factory.setDependentOptions(options, usePlannerPublisher=True, useTeleop=True)
return factory.construct(view=view, options=options)
