def randomize_object(self):
handle = self.cube.get_handle()
sim.simRemoveObject(handle)
sizes = [max(random() * 0.1, 0.02), 0.05]
objects = list()
position = [0, 0, 0]
mass = 0.1
# Create cube with random size
s = sizes[0]
objects.append(
Shape.create(type=PrimitiveShape.CUBOID,
size=[s, s, s],
position=position,
mass=mass,
color=[random() for _ in range(3)]))
index = sample(range(len(position) - 1), 1)[0]
sign = sample([1, -1], 1)[0]
position[index] += sum(sizes) * 0.5 * sign
s = sizes[-1]
# Create cube with fix size
objects.append(
Shape.create(type=PrimitiveShape.CUBOID,
size=[s, s, s],
position=position,
mass=mass,
color=[random() for _ in range(3)]))
handles = [o.get_handle() for o in objects]
handle = sim.simGroupShapes(handles)
self.cube = Shape(handle)
self.graspable_objects = [
self.cube,
]
def remove(self) -> None:
"""Removes this object/model from the scene.
:raises: ObjectAlreadyRemoved if the object is no longer on the scene.
"""
try:
if self.is_model():
sim.simRemoveModel(self._handle)
else:
sim.simRemoveObject(self._handle)
except RuntimeError as e:
raise ObjectAlreadyRemovedError(
'The object/model was already deleted.') from e
