Exemplo n.º 1
0
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()
Exemplo n.º 2
0
    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)