def merge_objects(self, objects: List[Shape]) -> Shape:
"""Merges several shapes into a compound shape (or simple shape).
:param objects: The list of shapes to group.
:return: A single merged shape.
"""
handles = [o.get_handle() for o in objects]
# FIXME: sim.simGroupShapes(merge=True) won't return correct handle,
# so we use name to find correct handle of the merged shape.
name = objects[-1].get_name()
sim.simGroupShapes(handles, merge=True)
return Shape(name)
def import_mesh(filename: str, scaling_factor=1.0,
keep_identical_vertices=False,
ignore_up_vector=False) -> 'Shape':
"""Imports a mesh from a file.
:param filename: The location of the file to import.
:param scaling_factor: The scaling factor to apply to the imported vertices
:param keep_identical_vertices: Keep identical vertices.
:param ignore_up_vector: Ignore up-vector coded in file.
:return: The grouped Shape object.
"""
if not os.path.isfile(filename):
raise ValueError('Filename does not exist: ' + filename)
options = 0
if keep_identical_vertices:
options |= 1
if ignore_up_vector:
options |= 128
# fileformat is 0 as it is automatically detected.
# identicalVerticeTolerance has no effect. Setting to zero.
verticies, indices, names = sim.simImportMesh(
0, filename, options, 0, scaling_factor)
mesh_objects = []
for v, i, n in zip(verticies, indices, names):
mesh_ob = Shape.create_mesh(v, i)
mesh_objects.append(mesh_ob)
grouped = mesh_objects[0]
if len(mesh_objects) > 1:
handles = [o.get_handle() for o in mesh_objects]
handle = sim.simGroupShapes(handles)
grouped = Shape(handle)
return grouped
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 group(shapes: List['Shape']) -> 'Shape':
"""Groups a set of shapes into a compound shape.
:return: A compound shape.
"""
handles = [shape.get_handle() for shape in shapes]
if len(handles) == 1:
return shapes[0]
return Shape(sim.simGroupShapes(handles))
def group_objects(self, objects: List[Shape]) -> Shape:
"""Groups several shapes into a compound shape (or simple shape).
:param objects: The list of shapes to group.
:return: A single grouped shape.
"""
handles = [o.get_handle() for o in objects]
handle = sim.simGroupShapes(handles)
return Shape(handle)
