def makeRobotSystem(view):
factory = robotsystem.RobotSystemFactory()
options = factory.getDisabledOptions()
factory.setDependentOptions(options,
usePlannerPublisher=True,
useTeleop=True)
return factory.construct(view=view, options=options)
def makeRobotSystem(view):
'''
args = dict()
urdfFile = drcargs.getDirectorConfig()['urdfConfig']['ik']
colorMode = drcargs.getDirectorConfig()['colorMode']
robotStateModel, robotStateJointController = roboturdf.loadRobotModel('robot model', view, urdfFile=urdfFile, colorMode=colorMode)
robotStateModel.setProperty('Color Mode', 'Textures')
handFactory = roboturdf.HandFactory(robotStateModel)
handModels = []
for side in ['left', 'right']:
if side in handFactory.defaultHandTypes:
handModels.append(handFactory.getLoader(side))
ikPlanner = ikplanner.IKPlanner(None, robotStateModel, robotStateJointController, handModels)
manipPlanner = None #robotplanlistener.ManipulationPlanDriver(ikPlanner)
return FieldContainer(
robotStateModel=robotStateModel,
robotStateJointController=robotStateJointController,
directorConfig=drcargs.getDirectorConfig(),
ikPlanner=ikPlanner,
manipPlanner=manipPlanner,
footstepsDriver=None,
)
'''
factory = robotsystem.RobotSystemFactory()
options = factory.getDisabledOptions()
options.useDirectorConfig = True
options.useRobotState = True
options.usePlanning = True
options.usePlayback = True
options.useAffordances = True
options.usePlannerPublisher = True
options.useTeleop = True
robotSystem = factory.construct(view=view, options=options)
return robotSystem
print constraintsJsonStr
print '--------------decoding--------------------'
constraints = ce.decodeConstraints(constraintsJsonStr)
pprint.pprint(constraints)
print '--------------reconstructing--------------'
constraints = reconstructConstraints(constraints)
print '--------------matlab commands---------------'
for c in constraints:
c.printCommands()
app = ConsoleApp()
view = app.createView()
factory = robotsystem.RobotSystemFactory()
options = factory.getDisabledOptions()
factory.setDependentOptions(options, usePlannerPublisher=True)
robotSystem = factory.construct(view=view, options=options)
app.setupGlobals(globals())
globals().update(dict(robotSystem))
testPlanConstraints()