def _get_objects_in_tree(root_object=None,
object_type=ObjectType.ALL,
exclude_base=True,
first_generation_only=False) -> List['Object']:
if root_object is None:
root_object = sim.sim_handle_scene
elif isinstance(root_object, Object):
root_object = root_object.get_handle()
elif not isinstance(root_object, int):
raise ValueError('root_object must be None, int or Object')
options = 0
if exclude_base:
options |= 1
if first_generation_only:
options |= 2
handles = sim.simGetObjectsInTree(root_object, object_type.value,
options)
objects = []
for handle in handles:
try:
objects.append(Object.get_object(handle))
except KeyError:
# e.g., CAMERA and LIGHT are not officially supported
name = Object.get_object_name(handle)
type = Object.get_object_type(name)
warnings.warn("Object ({}, '{}') has {}, "
'which is not supported'.format(
handle, name, type))
return objects
def get_object(name_or_handle: str) -> 'Object':
"""Gets object retrieved by name.
:return: The object.
"""
name = Object.get_object_name(name_or_handle)
object_type = Object.get_object_type(name)
cls = object_type_to_class[object_type]
return cls(name)
def _get_waypoints(self, validating=False) -> List[Waypoint]:
waypoint_name = 'waypoint%d'
waypoints = []
additional_waypoint_inits = []
i = 0
while True:
name = waypoint_name % i
if not Object.exists(name):
# There are no more waypoints...
break
ob_type = Object.get_object_type(name)
way = None
if ob_type == ObjectType.DUMMY:
waypoint = Dummy(name)
start_func = None
end_func = None
if i in self._waypoint_abilities_start:
start_func = self._waypoint_abilities_start[i]
if i in self._waypoint_abilities_end:
end_func = self._waypoint_abilities_end[i]
way = Point(waypoint,
self.robot,
start_of_path_func=start_func,
end_of_path_func=end_func)
elif ob_type == ObjectType.PATH:
cartestian_path = CartesianPath(name)
way = PredefinedPath(cartestian_path, self.robot)
else:
raise WaypointError(
'%s is an unsupported waypoint type %s' % (name, ob_type),
self)
if name in self._waypoint_additional_inits and not validating:
additional_waypoint_inits.append(
(self._waypoint_additional_inits[name], way))
waypoints.append(way)
i += 1
# Check if all of the waypoints are feasible
feasible, way_i = self._feasible(waypoints)
if not feasible:
raise WaypointError(
"Infeasible episode. Can't reach waypoint %d." % way_i, self)
for func, way in additional_waypoint_inits:
func(way)
return waypoints
def test_get_object_type(self):
self.assertEqual(Object.get_object_type('dynamic_cube'),
ObjectType.SHAPE)
self.assertEqual(Object.get_object_type('dummy'), ObjectType.DUMMY)
def test_get_object_type(self):
self.assertEqual(Object.get_object_type('DefaultCamera'),
ObjectType.CAMERA)
