def addDefaultArgs(self, parser):
parser.add_argument('-c', '--bot-config', '--config_file', dest='config_file',
metavar='filename', type=str, help='Robot cfg file')
parser.add_argument('--matlab-host', metavar='hostname', type=str,
help='hostname to connect with external matlab server')
directorConfig = parser.add_mutually_exclusive_group(required=False)
directorConfig.add_argument('--director-config', '--director_config', dest='directorConfigFile',
type=str, default='', metavar='filename',
help='JSON file specifying which urdfs to use')
if director.getDRCBaseIsSet():
self.addDirectorConfigShortcuts(directorConfig)
parser.set_defaults(directorConfigFile=self.getDefaultDirectorConfigFile(),
config_file=self.getDefaultBotConfigFile())
parser.add_argument('data_files', type=str, nargs='*',
default=[], action='append', metavar='filename',
help='data files to load at startup')
parser.add_argument('--data', type=str, nargs='+', dest='data_files',
default=[], action='append', metavar='filename',
help='data files to load at startup')
parser.add_argument('--script', '--startup', type=str, nargs='+', dest='scripts',
default=[], action='append', metavar='filename',
help='python scripts to run at startup')
def getHandUrdfFullPath(self):
if director.getDRCBaseIsSet():
urdfBase = os.path.join(
getDRCBaseDir(),
'software/models/common_components/hand_factory')
else:
urdfBase = drcargs.DirectorConfig.getDefaultInstance().dirname
return os.path.join(urdfBase, self.handUrdf)
def addDefaultArgs(self, parser):
parser.add_argument('-c',
'--bot-config',
'--config_file',
dest='config_file',
metavar='filename',
type=str,
help='Robot cfg file')
parser.add_argument(
'--matlab-host',
metavar='hostname',
type=str,
help='hostname to connect with external matlab server')
directorConfig = parser.add_mutually_exclusive_group(required=False)
directorConfig.add_argument(
'--director-config',
'--director_config',
dest='directorConfigFile',
type=str,
default='',
metavar='filename',
help='JSON file specifying which urdfs to use')
if director.getDRCBaseIsSet():
self.addDirectorConfigShortcuts(directorConfig)
parser.set_defaults(
directorConfigFile=self.getDefaultDirectorConfigFile(),
config_file=self.getDefaultBotConfigFile())
parser.add_argument('data_files',
type=str,
nargs='*',
default=[],
action='append',
metavar='filename',
help='data files to load at startup')
parser.add_argument('--data',
type=str,
nargs='+',
dest='data_files',
default=[],
action='append',
metavar='filename',
help='data files to load at startup')
parser.add_argument('--script',
'--startup',
type=str,
nargs='+',
dest='scripts',
default=[],
action='append',
metavar='filename',
help='python scripts to run at startup')
def startup(globals):
global _mainWindow
_mainWindow = globals["_mainWindow"]
if not director.getDRCBaseIsSet():
showErrorMessage("director_drs package cannot be found")
return
_mainWindow.connect("resetCamera()", resetCamera)
_mainWindow.connect("toggleStereoRender()", toggleStereoRender)
_mainWindow.connect("toggleCameraTerrainMode()", toggleCameraTerrainMode)
setupViewManager()
def getHandUrdfFullPath(self):
if director.getDRCBaseIsSet():
urdfBase = os.path.join(getDRCBaseDir(), 'software/models/common_components/hand_factory')
else:
urdfBase = drcargs.DirectorConfig.getDefaultInstance().dirname
return os.path.join(urdfBase, self.handUrdf)
