('Select parent...', onSelectAffordanceParent),
]
return actions
viewbehaviors.registerContextMenuActions(getAffordanceContextMenuActions)
app = mainwindowapp.construct()
view = app.view
affordanceManager = affordancemanager.AffordanceObjectModelManager(view)
if affordancemanager.lcmobjectcollection.USE_LCM:
affordanceitems.MeshAffordanceItem.getMeshManager().collection.sendEchoRequest()
affordanceManager.collection.sendEchoRequest()
objectPicker = pointpicker.ObjectPicker(view=view, callback=onAffordancePick, getObjectsFunction=affordanceManager.getAffordances)
panel = affordancepanel.AffordancePanel(view, affordanceManager)
dock = app.app.addWidgetToDock(panel.widget, QtCore.Qt.RightDockWidgetArea)
printButton = QtGui.QPushButton('Print URDF')
printButton.connect('clicked()', printAffordanceUrdf)
panel.ui.spawnTab.layout().addWidget(printButton)
app.app.start()
def testSDF():
print("Testind SDF loader")
n_pre = len(affordanceManager.getAffordances())
dataDir = app.getTestingDataDirectory()
filename = os.environ['DRC_BASE'] + '/software/models/worlds/tabledemo.sdf'
sc = sceneloader.SceneLoader()
print("Loading " + filename)
sc.loadSDF(filename)
n_post = len(affordanceManager.getAffordances())
print("Number of affordances loaded: " + str(n_post - n_pre))
assert n_post > n_pre
testCollection()
testAffordanceToUrdf()
loadTableTopPointCloud()
segmentTableTopPointCloud()
testSDF()
from director import affordancepanel
panel = affordancepanel.AffordancePanel(view, affordanceManager,
robotStateJointController,
raycastDriver)
panel.widget.show()
app.start()