def get_position(self, relative_to=None) -> List[float]:
"""Gets the position of this object.
:param relative_to: Indicates relative to which reference frame we want
the position. Specify None to retrieve the absolute position, or an
Object relative to whose reference frame we want the position.
:return: A list containing the x, y, z position of the object.
"""
relto = -1 if relative_to is None else relative_to.get_handle()
return vrep.simGetObjectPosition(self._handle, relto)
def rotate(self, rotation: List[float]) -> None:
"""Rotates a transformation matrix.
:param rotation: The x, y, z rotation to perform (in radians).
"""
m = vrep.simGetObjectMatrix(self._handle, -1)
x_axis = [m[0], m[4], m[8]]
y_axis = [m[1], m[5], m[9]]
z_axis = [m[2], m[6], m[10]]
axis_pos = vrep.simGetObjectPosition(self._handle, -1)
m = vrep.simRotateAroundAxis(m, z_axis, axis_pos, rotation[2])
m = vrep.simRotateAroundAxis(m, y_axis, axis_pos, rotation[1])
m = vrep.simRotateAroundAxis(m, x_axis, axis_pos, rotation[0])
vrep.simSetObjectMatrix(self._handle, -1, m)
def get_object_position(self, object_handle):
return vrep.simGetObjectPosition(object_handle, self.world_handle)
def get_human_position(self):
return vrep.simGetObjectPosition(self.human_handle, self.world_handle)
