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
viewBackgroundLightHandler.action.trigger()
if useHands:
handcontrolpanel.init(lHandDriver, rHandDriver, robotStateModel, robotStateJointController, view)
if useFootsteps:
footstepsPanel = footstepsdriverpanel.init(footstepsDriver, robotStateModel, robotStateJointController, irisDriver)
if useLCMGL:
lcmglManager = lcmgl.init(view)
app.MenuActionToggleHelper('Tools', 'Renderer - LCM GL', lcmglManager.isEnabled, lcmglManager.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):
playbackRobotModel.setProperty('Visible', True)
playbackJointController.setPose('show_pose', pose)