def initDrakeVisualizer(self, fields):
from director import drakevisualizer
drakeVisualizer = drakevisualizer.DrakeVisualizer(fields.view)
applogic.MenuActionToggleHelper('Tools', drakeVisualizer.name,
drakeVisualizer.isEnabled,
drakeVisualizer.setEnabled)
return FieldContainer(drakeVisualizer=drakeVisualizer)
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
lcmglManager.isEnabled, lcmglManager.setEnabled)
if useOctomap:
octomapManager = lcmoctomap.init(view)
app.MenuActionToggleHelper('Tools', 'Renderer - Octomap',
octomapManager.isEnabled,
octomapManager.setEnabled)
if useCollections:
collectionsManager = lcmcollections.init(view)
app.MenuActionToggleHelper('Tools', 'Renderer - Collections',
collectionsManager.isEnabled,
collectionsManager.setEnabled)
if useDrakeVisualizer:
drakeVisualizer = drakevisualizer.DrakeVisualizer(view)
app.MenuActionToggleHelper('Tools', 'Renderer - Drake',
drakeVisualizer.isEnabled,
drakeVisualizer.setEnabled)
if useNavigationPanel:
navigationPanel = navigationpanel.init(robotStateJointController,
footstepsDriver)
picker = PointPicker(view,
callback=navigationPanel.pointPickerStoredFootsteps,
numberOfPoints=2)
#picker.start()
if usePlanning:
def showPose(pose):