From OpenRAVE

Running the Example

python:

openrave.py --example testviewcallback

Description

from openravepy import *
from numpy import *
 
ghandle = None
# called whenever the mouse is pressed
def itemselectioncb(link,pos,org,env):
    global ghandle
    print 'in python: body ',link.GetParent().GetName(),':',link.GetName(),'at',reshape(pos,(3))
    # store the plotted handle in a global variable, or otherwise it will get deleted
    ghandle = env.plot3(points=reshape(pos,(3)),pointsize=25.0,colors=array((1,0,0)))
    # tell the viewer to not handle the selection
    return 0
 
if __name__=='__main__':
    env = Environment()
    env.Load('data/lab1.env.xml')
    env.SetViewer('qtcoin')
    # register the callback
    handle = env.GetViewer().RegisterCallback(Viewer.ViewerEvents.ItemSelection,
                                              lambda link,pos,org: itemselectioncb(link,pos,org,env))
    raw_input('In selection mode, click anywhere on the viewer. Press any key to quit: ')