#NEWLINE# def __init__( self , robotSystem , view ) : #NEWLINE# #INDENT# self . robotStateModel = robotSystem . robotStateModel #NEWLINE# self . robotStateJointController = robotSystem . robotStateJointController #NEWLINE# self . robotSystem = robotSystem #NEWLINE# self . lFootFtFrameId = self . robotStateModel . model . findLinkID ( self . robotSystem . ikPlanner . leftFootLink ) #NEWLINE# self . rFootFtFrameId = self . robotStateModel . model . findLinkID ( self . robotSystem . ikPlanner . rightFootLink ) #NEWLINE# self . leftInContact = 0 #NEWLINE# self . rightInContact = 0 #NEWLINE# self . view = view #NEWLINE# self . ddDrakeWrapper = PythonQt . dd . ddDrakeWrapper ( ) #NEWLINE# self . warningButton = QtGui . QLabel ( 'COP Warning' ) #NEWLINE# self . warningButton . setStyleSheet ( 'background-color:white' ) #NEWLINE# self . dialogVisible = False #NEWLINE# d = DebugData ( ) #NEWLINE# vis . updatePolyData ( d . getPolyData ( ) , 'measured cop' , view = self . view , parent = 'robot state model' ) #NEWLINE# om . findObjectByName ( 'measured cop' ) . setProperty ( 'Visible' , False ) #NEWLINE# self . robotStateModel . connectModelChanged ( self . update )