OpenRAVE Documentation

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()

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