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:
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 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:
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)