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import sys from director import drcargs from director import mainwindowapp
# todo: # this check is required because openhumanoids # does not yet have robotlocomotion/lcmtypes try: import robotlocomotion as lcmrl HAVE_LCMRL = True except ImportError: HAVE_LCMRL = False
def main(globalsDict=None):
if '--testing' not in sys.argv: drcargs.requireStrict()
appName = 'Drake Visualizer' app = mainwindowapp.MainWindowAppFactory().construct(globalsDict=globalsDict, windowTitle=appName, applicationName=appName)
fact = mainwindowapp.MainWindowPanelFactory()
options = fact.getDefaultOptions() fact.setDependentOptions(options, useTreeViewer=HAVE_LCMRL, useDrakeVisualizer=True, useLCMGLRenderer=True)
fields = fact.construct(options, app=app.app, view=app.view)
if globalsDict is not None: for d in [app, fields]: globalsDict.update(**dict(d))
app.app.start()
if __name__ == '__main__': main(globals()) |