def subtract_object(self, obj: Object, options: int = 0) -> None:
"""Subtract object from the octree.
:param obj: Object to subtract.
:param options: Object subtraction options.
"""
sim.simSubtractObjectFromOctree(self._handle, obj.get_handle(), options)
return
def is_detected(self, obj: Object) -> bool:
"""Checks whether the proximity sensor detects the indicated object.
:param obj: The object to detect.
:return: Bool indicating if the object was detected.
"""
state, point = vrep.simCheckProximitySensor(self._handle,
obj.get_handle())
return state == 1
def insert_object(self, obj: Object, color: Optional[float] = None,
options: int = 0) -> None:
"""Inserts object into the octree.
:param obj: Object to insert.
:param color: A list containing RGB data, or None.
:param options: Object insertion options.
"""
if color is not None:
if not isinstance(color, list):
raise ValueError(
'Octree.insert_object: color parameter not a list.')
elif len(color) is not 3:
raise ValueError(
'Octree.insert_object: color parameter not an RGB list.')
sim.simInsertObjectIntoOctree(self._handle, obj.get_handle(), options,
color, 0)
return
def __init__(self, gripper: Gripper, object: Object):
self._gripper = gripper
self._object_handle = object.get_handle()
