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Add preview simulation to behavior tree executor. #351

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Add preview simulation to behavior tree executor. #351

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20 changes: 20 additions & 0 deletions ...gh-level-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/BehaviorTreeExecutor.java
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,8 @@
import us.ihmc.avatar.drcRobot.DRCRobotModel;
import us.ihmc.avatar.drcRobot.ROS2SyncedRobotModel;
import us.ihmc.avatar.ros2.ROS2ControllerHelper;
import us.ihmc.avatar.scs2.SCS2AvatarSimulation;
import us.ihmc.avatar.scs2.SCS2AvatarSimulationFactory;
import us.ihmc.behaviors.behaviorTree.topology.BehaviorTreeExtensionSubtreeRebuilder;
import us.ihmc.behaviors.behaviorTree.ros2.ROS2BehaviorTreeState;
import us.ihmc.communication.crdt.CRDTInfo;
Expand All @@ -18,6 +20,7 @@ public class BehaviorTreeExecutor
private final BehaviorTreeExtensionSubtreeRebuilder treeRebuilder;
private final BehaviorTreeState behaviorTreeState;
private BehaviorTreeNodeExecutor<?, ?> rootNode;
private final SCS2AvatarSimulation previewSimulation;

public BehaviorTreeExecutor(DRCRobotModel robotModel,
ROS2SyncedRobotModel syncedRobot,
Expand All @@ -30,6 +33,23 @@ public BehaviorTreeExecutor(DRCRobotModel robotModel,
treeRebuilder = new BehaviorTreeExtensionSubtreeRebuilder(this::getRootNode, crdtInfo);

behaviorTreeState = new BehaviorTreeState(nodeBuilder, treeRebuilder, this::getRootNode, crdtInfo, null);

// TODO: Need to build a way to parameterize the Controller API topics to have a set for previewing
// Need to parameterize all behavior topics with preview vs. real robot
SCS2AvatarSimulationFactory previewSimulationFactory = new SCS2AvatarSimulationFactory();
previewSimulationFactory.setRobotModel(robotModel);
// TODO: Probably need to change this to accept ROS2NodeInterface
// previewSimulationFactory.setRealtimeROS2Node();
previewSimulationFactory.setDefaultHighLevelHumanoidControllerFactory();
// TODO: Need a way of setting up robot in current configuration before you preview
// avatarSimulationFactory.setRobotInitialSetup(robotInitialSetup);
previewSimulationFactory.setKinematicsSimulation(true);
previewSimulationFactory.setUsePerfectSensors(true);
previewSimulationFactory.setSimulationDT(1.0 / 1500.0);
previewSimulationFactory.setSimulationDataRecordTickPeriod(20);
previewSimulationFactory.setSimulationDataBufferDuration(5.0);
previewSimulation = previewSimulationFactory.createAvatarSimulation();
previewSimulation.setSystemExitOnDestroy(false);
}

public void update()
Expand Down