def initRobotLinkSelector(self, robotSystem):
from director import robotlinkselector
robotLinkSelector = robotlinkselector.RobotLinkSelector()
robotSystem.viewBehaviors.addHandler(
robotSystem.viewBehaviors.LEFT_DOUBLE_CLICK_EVENT,
robotLinkSelector.onLeftDoubleClick)
return FieldContainer(robotLinkSelector=robotLinkSelector)
optitrackVis.setEnabled(True)
applogic.MenuActionToggleHelper('Tools', optitrackVis.name,
optitrackVis.isEnabled,
optitrackVis.setEnabled)
app.addWidgetToDock(robotSystem.teleopPanel.widget,
QtCore.Qt.RightDockWidgetArea).hide()
app.addWidgetToDock(robotSystem.playbackPanel.widget,
QtCore.Qt.BottomDockWidgetArea).hide()
setupToolBar()
setGripperJointPositions(robotSystem.robotStateModel, 0.04)
setGripperJointPositions(robotSystem.teleopRobotModel, 0.04)
setGripperJointPositions(robotSystem.playbackRobotModel, 0.04)
robotLinkSelector = robotlinkselector.RobotLinkSelector()
viewBehaviors.addHandler(viewBehaviors.LEFT_DOUBLE_CLICK_EVENT,
robotLinkSelector.onLeftDoubleClick)
if havePerceptionDrivers():
imageManager = initImageManager()
openniDepthPointCloud = initDepthPointCloud(imageManager, view)
cameraView = newCameraView(imageManager)
frameVisPanel = framevisualization.FrameVisualizationPanel(view)
app.addWidgetToDock(frameVisPanel.widget,
QtCore.Qt.RightDockWidgetArea).hide()
try:
import mytaskpanel
