def startup():
app.setupPackagePaths()
global view
view = PythonQt.dd.ddQVTKWidgetView()
modelFromFile = False
defaultModelFile = 'model_LI_RR.urdf'
if modelFromFile:
mitRobotDir = os.path.join(app.getDRCBase(), 'software/models/mit_gazebo_models/mit_robot')
urdfFile = os.path.join(mitRobotDir, defaultModelFile)
model = app.loadRobotModelFromFile(urdfFile)
else:
model = waitForRobotXML()
model.addToRenderer(view.renderer())
jointController = jointcontrol.JointController([model])
jointController.setZeroPose()
checker = PlanChecker(model, jointController, view)
checker.zeroCamera()
app.toggleCameraTerrainMode(view)
QtCore.QCoreApplication.instance().exec_()
def __init__(self):
app.setupPackagePaths()
self.setupUi()
app.toggleCameraTerrainMode(self.view)
self.resetCamera()
self.drakeVis = drakevisualizer.DrakeVisualizer(self.view)
vis.showGrid(self.view, color=[0,0,0], parent=None)
self.timer = TimerCallback()
self.timer.callback = self.update
self.timer.targetFps = 60
def __init__(self):
app.setupPackagePaths()
self.setupUi()
app.toggleCameraTerrainMode(self.view)
self.resetCamera()
self.drakeVis = drakevisualizer.DrakeVisualizer(self.view)
vis.showGrid(self.view, color=[0, 0, 0], parent=None)
self.timer = TimerCallback()
self.timer.callback = self.update
self.timer.targetFps = 60