def to_type(handle: int) -> Object:
"""Converts an object handle to the correct sub-type.
:param handle: The internal handle of an object.
:return: The sub-type of this object.
"""
t = sim.simGetObjectType(handle)
if t == sim.sim_object_shape_type:
return Shape(handle)
elif t == sim.sim_object_dummy_type:
return Dummy(handle)
elif t == sim.sim_object_path_type:
return CartesianPath(handle)
elif t == sim.sim_object_joint_type:
return Joint(handle)
elif t == sim.sim_object_visionsensor_type:
return VisionSensor(handle)
elif t == sim.sim_object_forcesensor_type:
return ForceSensor(handle)
elif t == sim.sim_object_proximitysensor_type:
return ProximitySensor(handle)
elif t == sim.sim_object_camera_type:
return Camera(handle)
elif t == sim.sim_object_octree_type:
return Octree(handle)
raise ValueError
def get_objects_in_tree(self,
object_type=ObjectType.ALL,
exclude_base=True,
first_generation_only=False) -> List['Object']:
"""Retrieves the objects in a given hierarchy tree.
:param object_type: The object type to retrieve.
One of :py:class:`.ObjectType`.
:param exclude_base: Exclude the tree base from the returned list.
:param first_generation_only: Include in the returned list only the
object's first children. Otherwise, entire hierarchy is returned.
:return: A list of objects in the hierarchy tree.
"""
options = 0
if exclude_base:
options |= 1
if first_generation_only:
options |= 2
handles = sim.simGetObjectsInTree(self._handle, object_type.value,
options)
objects = []
for h in handles:
object_type = ObjectType(sim.simGetObjectType(h))
cls = object_type_to_class.get(object_type, Object)
objects.append(cls(h))
return objects
def _create_object(self, name):
"""Creates pyrep object for the correct type"""
# TODO implement other types
handle = sim.simGetObjectHandle(name)
o_type = sim.simGetObjectType(handle)
if ObjectType(o_type) == ObjectType.JOINT:
return Joint(handle)
elif ObjectType(o_type) == ObjectType.SHAPE:
return Shape(handle)
else:
return None
def __init__(self, name_or_handle: Union[str, int]):
if isinstance(name_or_handle, int):
self._handle = name_or_handle
else:
self._handle = sim.simGetObjectHandle(name_or_handle)
assert_type = self._get_requested_type()
actual = ObjectType(sim.simGetObjectType(self._handle))
if actual != assert_type:
raise WrongObjectTypeError(
'You requested object of type %s, but the actual type was '
'%s' % (assert_type.name, actual.name))
def get_parent(self) -> Union['Object', None]:
"""Gets the parent of this object in the scene hierarchy.
:return: The parent of this object, or None if it doesn't have a parent.
"""
try:
handle = sim.simGetObjectParent(self._handle)
except RuntimeError:
# Most probably no parent.
return None
object_type = ObjectType(sim.simGetObjectType(handle))
cls = object_type_to_class.get(object_type, Object)
return cls(handle)
def _get_requested_type(self) -> ObjectType:
return ObjectType(sim.simGetObjectType(self.get_handle()))
def _get_requested_type(self) -> ObjectType:
"""Gets the type of the object.
:return: Type of the object.
"""
return ObjectType(sim.simGetObjectType(self.get_handle()))
def get_type(self) -> ObjectType:
"""Gets the type of the object.
:return: Type of the object.
"""
return ObjectType(sim.simGetObjectType(self._handle))
def get_object_type(name: str) -> ObjectType:
"""Gets the type of the object.
:return: Type of the object.
"""
return ObjectType(sim.simGetObjectType(sim.simGetObjectHandle(name)))
