Source code for openravepy.examples.testviewercallback
#!/usr/bin/env python
# -*- coding: utf-8 -*-
# Copyright (C) 2009-2011 Rosen Diankov (rosen.diankov@gmail.com)
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
"""Shows how to setup a callback for mouse clicks on the viewer.
.. examplepre-block:: testviewercallback
:image-width: 400
.. examplepost-block:: testviewercallback
"""
from __future__ import with_statement # for python 2.5
__author__ = 'Rosen Diankov'
import openravepy
if not __openravepy_build_doc__:
from openravepy import *
from numpy import *
ghandle = None
[docs]def itemselectioncb(link,pos,org,env):
global ghandle
print 'in python: body ',link.GetParent().GetName(),':',link.GetName(),'at',reshape(pos,(3))
ghandle = env.plot3(points=pos,pointsize=25.0,colors=array((1,0,0)))
return 0
[docs]def main(env,options):
"Main example code."
env.Load(options.scene)
handle = env.GetViewer().RegisterItemSelectionCallback(lambda link,pos,org: itemselectioncb(link,pos,org,env))
if handle is None:
print 'failed to register handle'
sys.exit(1)
while True:
cmd = raw_input('In selection mode (ESC), click anywhere on the viewer. Enter command (q-quit): ')
if cmd == 'q':
break
from optparse import OptionParser
from openravepy.misc import OpenRAVEGlobalArguments
@openravepy.with_destroy
[docs]def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Shows how to attach a callback to a viewer to perform functions.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',
action="store",type='string',dest='scene',default='data/lab1.env.xml',
help='OpenRAVE scene to load')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
if __name__=='__main__':
run()