def get_object_from_node(node: BulletBodyNode):
    """
    Use this api to get the python object from bullet RayCast/SweepTest/CollisionCallback result
    """
    if node.getPythonTag(node.getName()) is None:
        return None
    from metadrive.engine.engine_utils import get_object
    from metadrive.engine.engine_utils import get_engine
    ret = node.getPythonTag(node.getName()).base_object_name
    is_road = MetaDriveType.is_lane(node.getPythonTag(node.getName()).type_name)
    if is_road:
        return get_engine().current_map.road_network.get_lane(ret)
    else:
        return get_object(ret)[ret]

    Use this api to get the python object from bullet RayCast/SweepTest/CollisionCallback result
    
metadrive/utils/utils.py