if useGrid:
grid = vis.showGrid(view, color=[0,0,0], alpha=0.1)
grid.setProperty('Surface Mode', 'Surface with edges')
app.setBackgroundColor([0.3, 0.3, 0.35], [0.95,0.95,1])
viewOptions = vis.ViewOptionsItem(view)
om.addToObjectModel(viewOptions, parentObj=om.findObjectByName('sensors'))
viewBackgroundLightHandler = viewcolors.ViewBackgroundLightHandler(viewOptions, grid,
app.getToolsMenuActions()['ActionToggleBackgroundLight'])
if not useLightColorScheme:
viewBackgroundLightHandler.action.trigger()
if useHands:
handcontrolpanel.init(lHandDriver, rHandDriver, robotStateModel, robotStateJointController, view)
else:
app.removeToolbarMacro('ActionHandControlPanel')
if useFootsteps:
footstepsPanel = footstepsdriverpanel.init(footstepsDriver, robotStateModel, robotStateJointController, irisDriver)
else:
app.removeToolbarMacro('ActionFootstepPanel')
if useLCMGL:
lcmglManager = lcmgl.init(view)
app.MenuActionToggleHelper('Tools', 'Renderer - LCM GL', lcmglManager.isEnabled, lcmglManager.setEnabled)
if useOctomap:
grid = vis.showGrid(view, color=[0, 0, 0], alpha=0.1)
grid.setProperty('Surface Mode', 'Surface with edges')
app.setBackgroundColor([0.3, 0.3, 0.35], [0.95, 0.95, 1])
viewOptions = vis.ViewOptionsItem(view)
om.addToObjectModel(viewOptions, parentObj=om.findObjectByName('sensors'))
viewBackgroundLightHandler = viewcolors.ViewBackgroundLightHandler(
viewOptions, grid,
app.getToolsMenuActions()['ActionToggleBackgroundLight'])
if not useLightColorScheme:
viewBackgroundLightHandler.action.trigger()
if useHands:
handcontrolpanel.init(lHandDriver, rHandDriver, robotStateModel,
robotStateJointController, view)
else:
app.removeToolbarMacro('ActionHandControlPanel')
if useFootsteps:
footstepsPanel = footstepsdriverpanel.init(footstepsDriver,
robotStateModel,
robotStateJointController,
irisDriver)
else:
app.removeToolbarMacro('ActionFootstepPanel')
if useLCMGL:
lcmglManager = lcmgl.init(view)
app.MenuActionToggleHelper('Tools', 'Renderer - LCM GL',
lcmglManager.isEnabled, lcmglManager.setEnabled)