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 usePlanning: def showPose(pose): playbackRobotModel.setProperty('Visible', True) playbackJointController.setPose('show_pose', pose) def playPlan(plan): playPlans([plan]) def playPlans(plans): planPlayback.stopAnimation() playbackRobotModel.setProperty('Visible', True) planPlayback.playPlans(plans, playbackJointController)
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 usePlanning: def showPose(pose): playbackRobotModel.setProperty('Visible', True) playbackJointController.setPose('show_pose', pose) def playPlan(plan): playPlans([plan]) def playPlans(plans):