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_()
Beispiel #2
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    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
Beispiel #3
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    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