def roomMap():
mappingPanel.onStartMappingButton()
t = mappingdemo.MappingDemo(robotStateModel, playbackRobotModel,
ikPlanner, manipPlanner, footstepsDriver, atlasdriver.driver, lHandDriver, rHandDriver,
perception.multisenseDriver, view, robotStateJointController, playPlans)
t.visOnly = False
t.optionalUserPromptEnabled = False
q = t.autonomousExecuteRoomMap()
q.connectTaskEnded(mappingSweepEnded)
q.start()
useDrivingPlanner = drivingplanner.DrivingPlanner.isCompatibleWithConfig()
if useDrivingPlanner:
drivingPlannerPanel = drivingplanner.DrivingPlannerPanel(robotSystem)
walkingDemo = walkingtestdemo.walkingTestDemo(robotStateModel, playbackRobotModel, teleopRobotModel, footstepsDriver, manipPlanner, ikPlanner,
lHandDriver, rHandDriver, atlasdriver.driver, perception.multisenseDriver,
robotStateJointController,
playPlans, showPose)
bihandedDemo = bihandeddemo.BihandedPlannerDemo(robotStateModel, playbackRobotModel, teleopRobotModel, footstepsDriver, manipPlanner, ikPlanner,
lHandDriver, rHandDriver, atlasdriver.driver, perception.multisenseDriver,
fitDrillMultisense, robotStateJointController,
playPlans, showPose, cameraview, segmentationpanel)
mappingDemo = mappingdemo.MappingDemo(robotStateModel, playbackRobotModel,
ikPlanner, manipPlanner, footstepsDriver, atlasdriver.driver, lHandDriver, rHandDriver,
perception.multisenseDriver, view, robotStateJointController, playPlans)
if useMappingPanel:
mappingPanel = mappingpanel.init(robotStateJointController, footstepsDriver)
mappingTaskPanel = mappingpanel.MappingTaskPanel(mappingDemo, mappingPanel)
doorDemo = doordemo.DoorDemo(robotStateModel, footstepsDriver, manipPlanner, ikPlanner,
lHandDriver, rHandDriver, atlasdriver.driver, perception.multisenseDriver,
fitDrillMultisense, robotStateJointController,
playPlans, showPose)
doorTaskPanel = doordemo.DoorTaskPanel(doorDemo)
terrainTaskPanel = terraintask.TerrainTaskPanel(robotSystem)
terrainTask = terrainTaskPanel.terrainTask
surpriseTaskPanel = surprisetask.SurpriseTaskPanel(robotSystem)