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)