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)