def drillTrackerOn():
om.findObjectByName('Multisense').model.showRevolutionCallback = fitDrillMultisense
def drillTrackerOff():
om.findObjectByName('Multisense').model.showRevolutionCallback = None
def fitPosts():
segmentation.fitVerticalPosts(segmentation.getCurrentRevolutionData())
affordancePanel.onGetRaycastTerrain()
ikPlanner.addPostureGoalListener(robotStateJointController)
playbackpanel.addPanelToMainWindow(playbackPanel)
teleoppanel.addPanelToMainWindow(teleopPanel)
motionPlanningPanel = motionplanningpanel.init(planningUtils, robotStateModel, robotStateJointController, teleopRobotModel, teleopJointController,
ikPlanner, manipPlanner, affordanceManager, playbackPanel.setPlan, playbackPanel.hidePlan, footstepsDriver)
if useGamepad:
gamePad = gamepad.Gamepad(teleopPanel, teleopJointController, ikPlanner, view)
if useBlackoutText:
blackoutMonitor = blackoutmonitor.BlackoutMonitor(robotStateJointController, view, cameraview, mapServerSource)
taskPanels = OrderedDict()
if useHumanoidDRCDemos:
debrisDemo = debrisdemo.DebrisPlannerDemo(robotStateModel, robotStateJointController, playbackRobotModel,
ikPlanner, manipPlanner, atlasdriver.driver, lHandDriver,
perception.multisenseDriver, refitBlocks)
def drillTrackerOff():
om.findObjectByName(
'Multisense').model.showRevolutionCallback = None
def fitPosts():
segmentation.fitVerticalPosts(segmentation.getCurrentRevolutionData())
affordancePanel.onGetRaycastTerrain()
ikPlanner.addPostureGoalListener(robotStateJointController)
playbackpanel.addPanelToMainWindow(playbackPanel)
teleoppanel.addPanelToMainWindow(teleopPanel)
motionPlanningPanel = motionplanningpanel.init(
planningUtils, robotStateModel, robotStateJointController,
teleopRobotModel, teleopJointController, ikPlanner, manipPlanner,
affordanceManager, playbackPanel.setPlan, playbackPanel.hidePlan,
footstepsDriver)
if useGamepad:
gamePad = gamepad.Gamepad(teleopPanel, teleopJointController,
ikPlanner, view)
if useBlackoutText:
blackoutMonitor = blackoutmonitor.BlackoutMonitor(
robotStateJointController, view, cameraview, mapServerSource)
taskPanels = OrderedDict()
if useHumanoidDRCDemos:
debrisDemo = debrisdemo.DebrisPlannerDemo(