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def simxSetJointForce(clientID, jointHandle, force, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_SetJointForce(clientID, jointHandle, force, operationMode) |
def simxReadForceSensor(clientID, forceSensorHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
state = ct.c_ubyte()
forceVector = (ct.c_float*3)()
torqueVector = (ct.c_float*3)()
ret = c_ReadForceSensor(clientID, forceSenso... |
def simxReadVisionSensor(clientID, sensorHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
detectionState = ct.c_ubyte()
auxValues = ct.POINTER(ct.c_float)()
auxValuesCount = ct.POINTER(ct.c_int)()
ret = c_ReadVisionSe... |
def simxGetObjectHandle(clientID, objectName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
handle = ct.c_int()
if (sys.version_info[0] == 3) and (type(objectName) is str):
objectName=objectName.encode('utf-8')
return c_GetO... |
def simxGetVisionSensorImage(clientID, sensorHandle, options, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
resolution = (ct.c_int*2)()
c_image = ct.POINTER(ct.c_byte)()
bytesPerPixel = 3
if (options and 1) != 0:
bytes... |
def simxSetVisionSensorImage(clientID, sensorHandle, image, options, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
size = len(image)
image_bytes = (ct.c_byte*size)(*image)
return c_SetVisionSensorImage(clientID, sensorHandle, image... |
def simxGetVisionSensorDepthBuffer(clientID, sensorHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
c_buffer = ct.POINTER(ct.c_float)()
resolution = (ct.c_int*2)()
ret = c_GetVisionSensorDepthBuffer(clientID, sensorHandle, res... |
def simxGetObjectChild(clientID, parentObjectHandle, childIndex, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
childObjectHandle = ct.c_int()
return c_GetObjectChild(clientID, parentObjectHandle, childIndex, ct.byref(childObjectHandle),... |
def simxGetObjectParent(clientID, childObjectHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
parentObjectHandle = ct.c_int()
return c_GetObjectParent(clientID, childObjectHandle, ct.byref(parentObjectHandle), operationMode), pare... |
def simxReadProximitySensor(clientID, sensorHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
detectionState = ct.c_ubyte()
detectedObjectHandle = ct.c_int()
detectedPoint = (ct.c_float*3)()
detectedSurfaceNormalVector = (... |
def simxLoadModel(clientID, modelPathAndName, options, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
baseHandle = ct.c_int()
if (sys.version_info[0] == 3) and (type(modelPathAndName) is str):
modelPathAndName=modelPathAndName.en... |
def simxLoadUI(clientID, uiPathAndName, options, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
count = ct.c_int()
uiHandles = ct.POINTER(ct.c_int)()
if (sys.version_info[0] == 3) and (type(uiPathAndName) is str):
uiPathAndN... |
def simxLoadScene(clientID, scenePathAndName, options, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
if (sys.version_info[0] == 3) and (type(scenePathAndName) is str):
scenePathAndName=scenePathAndName.encode('utf-8')
return c_... |
def simxGetUIHandle(clientID, uiName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
handle = ct.c_int()
if (sys.version_info[0] == 3) and (type(uiName) is str):
uiName=uiName.encode('utf-8')
return c_GetUIHandle(clientID, u... |
def simxGetUISlider(clientID, uiHandle, uiButtonID, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
position = ct.c_int()
return c_GetUISlider(clientID, uiHandle, uiButtonID, ct.byref(position), operationMode), position.value |
def simxSetUISlider(clientID, uiHandle, uiButtonID, position, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_SetUISlider(clientID, uiHandle, uiButtonID, position, operationMode) |
def simxGetUIEventButton(clientID, uiHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
uiEventButtonID = ct.c_int()
auxValues = (ct.c_int*2)()
ret = c_GetUIEventButton(clientID, uiHandle, ct.byref(uiEventButtonID), auxValues, o... |
def simxGetUIButtonProperty(clientID, uiHandle, uiButtonID, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
prop = ct.c_int()
return c_GetUIButtonProperty(clientID, uiHandle, uiButtonID, ct.byref(prop), operationMode), prop.value |
def simxSetUIButtonProperty(clientID, uiHandle, uiButtonID, prop, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_SetUIButtonProperty(clientID, uiHandle, uiButtonID, prop, operationMode) |
def simxAddStatusbarMessage(clientID, message, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
if (sys.version_info[0] == 3) and (type(message) is str):
message=message.encode('utf-8')
return c_AddStatusbarMessage(clientID, messa... |
def simxAuxiliaryConsoleOpen(clientID, title, maxLines, mode, position, size, textColor, backgroundColor, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
consoleHandle = ct.c_int()
if (sys.version_info[0] == 3) and (type(title) is str):
... |
def simxAuxiliaryConsolePrint(clientID, consoleHandle, txt, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
if (sys.version_info[0] == 3) and (type(txt) is str):
txt=txt.encode('utf-8')
return c_AuxiliaryConsolePrint(clientID, co... |
def simxAuxiliaryConsoleShow(clientID, consoleHandle, showState, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_AuxiliaryConsoleShow(clientID, consoleHandle, showState, operationMode) |
def simxGetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
eulerAngles = (ct.c_float*3)()
ret = c_GetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, euler... |
def simxGetObjectPosition(clientID, objectHandle, relativeToObjectHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
position = (ct.c_float*3)()
ret = c_GetObjectPosition(clientID, objectHandle, relativeToObjectHandle, position, oper... |
def simxSetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, eulerAngles, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
angles = (ct.c_float*3)(*eulerAngles)
return c_SetObjectOrientation(clientID, objectHandle, relativ... |
def simxSetObjectPosition(clientID, objectHandle, relativeToObjectHandle, position, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
c_position = (ct.c_float*3)(*position)
return c_SetObjectPosition(clientID, objectHandle, relativeToObjec... |
def simxSetObjectParent(clientID, objectHandle, parentObject, keepInPlace, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_SetObjectParent(clientID, objectHandle, parentObject, keepInPlace, operationMode) |
def simxSetUIButtonLabel(clientID, uiHandle, uiButtonID, upStateLabel, downStateLabel, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
if sys.version_info[0] == 3:
if type(upStateLabel) is str:
upStateLabel=upStateLabel.e... |
def simxGetLastErrors(clientID, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
errors =[]
errorCnt = ct.c_int()
errorStrings = ct.POINTER(ct.c_char)()
ret = c_GetLastErrors(clientID, ct.byref(errorCnt), ct.byref(errorStrings), op... |
def simxGetArrayParameter(clientID, paramIdentifier, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
paramValues = (ct.c_float*3)()
ret = c_GetArrayParameter(clientID, paramIdentifier, paramValues, operationMode)
arr = []
for i in... |
def simxSetArrayParameter(clientID, paramIdentifier, paramValues, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
c_paramValues = (ct.c_float*3)(*paramValues)
return c_SetArrayParameter(clientID, paramIdentifier, c_paramValues, operation... |
def simxGetBooleanParameter(clientID, paramIdentifier, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
paramValue = ct.c_ubyte()
return c_GetBooleanParameter(clientID, paramIdentifier, ct.byref(paramValue), operationMode), bool(paramValu... |
def simxSetBooleanParameter(clientID, paramIdentifier, paramValue, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_SetBooleanParameter(clientID, paramIdentifier, paramValue, operationMode) |
def simxGetIntegerParameter(clientID, paramIdentifier, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
paramValue = ct.c_int()
return c_GetIntegerParameter(clientID, paramIdentifier, ct.byref(paramValue), operationMode), paramValue.value |
def simxSetIntegerParameter(clientID, paramIdentifier, paramValue, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_SetIntegerParameter(clientID, paramIdentifier, paramValue, operationMode) |
def simxGetFloatingParameter(clientID, paramIdentifier, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
paramValue = ct.c_float()
return c_GetFloatingParameter(clientID, paramIdentifier, ct.byref(paramValue), operationMode), paramValue.v... |
def simxSetFloatingParameter(clientID, paramIdentifier, paramValue, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_SetFloatingParameter(clientID, paramIdentifier, paramValue, operationMode) |
def simxGetStringParameter(clientID, paramIdentifier, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
paramValue = ct.POINTER(ct.c_char)()
ret = c_GetStringParameter(clientID, paramIdentifier, ct.byref(paramValue), operationMode)
... |
def simxGetCollisionHandle(clientID, collisionObjectName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
handle = ct.c_int()
if (sys.version_info[0] == 3) and (type(collisionObjectName) is str):
collisionObjectName=collisionObje... |
def simxGetCollectionHandle(clientID, collectionName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
handle = ct.c_int()
if (sys.version_info[0] == 3) and (type(collectionName) is str):
collectionName=collectionName.encode('utf-... |
def simxGetDistanceHandle(clientID, distanceObjectName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
handle = ct.c_int()
if (sys.version_info[0] == 3) and (type(distanceObjectName) is str):
distanceObjectName=distanceObjectNam... |
def simxReadCollision(clientID, collisionObjectHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
collisionState = ct.c_ubyte()
return c_ReadCollision(clientID, collisionObjectHandle, ct.byref(collisionState), operationMode), bool(co... |
def simxReadDistance(clientID, distanceObjectHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
minimumDistance = ct.c_float()
return c_ReadDistance(clientID, distanceObjectHandle, ct.byref(minimumDistance), operationMode), minimumD... |
def simxGetObjects(clientID, objectType, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
objectCount = ct.c_int()
objectHandles = ct.POINTER(ct.c_int)()
ret = c_GetObjects(clientID, objectType, ct.byref(objectCount), ct.byref(object... |
def simxDisplayDialog(clientID, titleText, mainText, dialogType, initialText, titleColors, dialogColors, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
if titleColors != None:
c_titleColors = (ct.c_float*6)(*titleColors)
else:
... |
def simxGetDialogInput(clientID, dialogHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
inputText = ct.POINTER(ct.c_char)()
ret = c_GetDialogInput(clientID, dialogHandle, ct.byref(inputText), operationMode)
a = bytearray()... |
def simxGetDialogResult(clientID, dialogHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
result = ct.c_int()
return c_GetDialogResult(clientID, dialogHandle, ct.byref(result), operationMode), result.value |
def simxCopyPasteObjects(clientID, objectHandles, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
c_objectHandles = (ct.c_int*len(objectHandles))(*objectHandles)
c_objectHandles = ct.cast(c_objectHandles,ct.POINTER(ct.c_int)) # IronPytho... |
def simxGetObjectSelection(clientID, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
objectCount = ct.c_int()
objectHandles = ct.POINTER(ct.c_int)()
ret = c_GetObjectSelection(clientID, ct.byref(objectHandles), ct.byref(objectCount)... |
def simxSetObjectSelection(clientID, objectHandles, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
c_objectHandles = (ct.c_int*len(objectHandles))(*objectHandles)
return c_SetObjectSelection(clientID, c_objectHandles, len(objectHandles... |
def simxClearFloatSignal(clientID, signalName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
if (sys.version_info[0] == 3) and (type(signalName) is str):
signalName=signalName.encode('utf-8')
return c_ClearFloatSignal(clientID,... |
def simxClearIntegerSignal(clientID, signalName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
if (sys.version_info[0] == 3) and (type(signalName) is str):
signalName=signalName.encode('utf-8')
return c_ClearIntegerSignal(clien... |
def simxClearStringSignal(clientID, signalName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
if (sys.version_info[0] == 3) and (type(signalName) is str):
signalName=signalName.encode('utf-8')
return c_ClearStringSignal(clientI... |
def simxGetFloatSignal(clientID, signalName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
signalValue = ct.c_float()
if (sys.version_info[0] == 3) and (type(signalName) is str):
signalName=signalName.encode('utf-8')
return... |
def simxGetIntegerSignal(clientID, signalName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
signalValue = ct.c_int()
if (sys.version_info[0] == 3) and (type(signalName) is str):
signalName=signalName.encode('utf-8')
return... |
def simxReadStringStream(clientID, signalName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
signalLength = ct.c_int();
signalValue = ct.POINTER(ct.c_ubyte)()
if (sys.version_info[0] == 3) and (type(signalName) is str):
sig... |
def simxSetFloatSignal(clientID, signalName, signalValue, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
if (sys.version_info[0] == 3) and (type(signalName) is str):
signalName=signalName.encode('utf-8')
return c_SetFloatSignal(... |
def simxSetIntegerSignal(clientID, signalName, signalValue, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
if (sys.version_info[0] == 3) and (type(signalName) is str):
signalName=signalName.encode('utf-8')
return c_SetIntegerSig... |
def simxSetStringSignal(clientID, signalName, signalValue, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
sigV=signalValue
if sys.version_info[0] == 3:
if type(signalName) is str:
signalName=signalName.encode('utf-8'... |
def simxGetObjectFloatParameter(clientID, objectHandle, parameterID, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
parameterValue = ct.c_float()
return c_GetObjectFloatParameter(clientID, objectHandle, parameterID, ct.byref(paramet... |
def simxSetObjectFloatParameter(clientID, objectHandle, parameterID, parameterValue, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_SetObjectFloatParameter(clientID, objectHandle, parameterID, parameterValue, operationMode) |
def simxGetObjectIntParameter(clientID, objectHandle, parameterID, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
parameterValue = ct.c_int()
return c_GetObjectIntParameter(clientID, objectHandle, parameterID, ct.byref(parameterValue),... |
def simxSetObjectIntParameter(clientID, objectHandle, parameterID, parameterValue, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_SetObjectIntParameter(clientID, objectHandle, parameterID, parameterValue, operationMode) |
def simxGetModelProperty(clientID, objectHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
prop = ct.c_int()
return c_GetModelProperty(clientID, objectHandle, ct.byref(prop), operationMode), prop.value |
def simxSetModelProperty(clientID, objectHandle, prop, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_SetModelProperty(clientID, objectHandle, prop, operationMode) |
def simxStart(connectionAddress, connectionPort, waitUntilConnected, doNotReconnectOnceDisconnected, timeOutInMs, commThreadCycleInMs):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
if (sys.version_info[0] == 3) and (type(connectionAddress) is str):
... |
def simxGetPingTime(clientID):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
pingTime = ct.c_int()
return c_GetPingTime(clientID, ct.byref(pingTime)), pingTime.value |
def simxGetInMessageInfo(clientID, infoType):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
info = ct.c_int()
return c_GetInMessageInfo(clientID, infoType, ct.byref(info)), info.value |
def simxGetOutMessageInfo(clientID, infoType):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
info = ct.c_int()
return c_GetOutMessageInfo(clientID, infoType, ct.byref(info)), info.value |
def simxTransferFile(clientID, filePathAndName, fileName_serverSide, timeOut, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
if (sys.version_info[0] == 3) and (type(filePathAndName) is str):
filePathAndName=filePathAndName.encode('u... |
def simxEraseFile(clientID, fileName_serverSide, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
if (sys.version_info[0] == 3) and (type(fileName_serverSide) is str):
fileName_serverSide=fileName_serverSide.encode('utf-8')
return... |
def simxCreateDummy(clientID, size, color, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
handle = ct.c_int()
if color != None:
c_color = (ct.c_ubyte*12)(*color)
else:
c_color = None
return c_CreateDummy(clientID... |
def simxQuery(clientID, signalName, signalValue, retSignalName, timeOutInMs):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
retSignalLength = ct.c_int();
retSignalValue = ct.POINTER(ct.c_ubyte)()
sigV=signalValue
if sys.version_info[0] == 3:
... |
def simxGetObjectGroupData(clientID, objectType, dataType, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
handles =[]
intData =[]
floatData =[]
stringData =[]
handlesC = ct.c_int()
handlesP = ct.POINTER(ct.c_int)()
i... |
def simxCallScriptFunction(clientID, scriptDescription, options, functionName, inputInts, inputFloats, inputStrings, inputBuffer, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
inputBufferV=inputBuffer
if sys.version_info[0] == 3:
... |
def simxGetObjectVelocity(clientID, objectHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
linearVel = (ct.c_float*3)()
angularVel = (ct.c_float*3)()
ret = c_GetObjectVelocity(clientID, objectHandle, linearVel, angularVel, ope... |
def simxPackInts(intList):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
if sys.version_info[0] == 3:
s=bytes()
for i in range(len(intList)):
s=s+struct.pack('<i',intList[i])
s=bytearray(s)
else:
s=''
... |
def simxUnpackInts(intsPackedInString):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
b=[]
for i in range(int(len(intsPackedInString)/4)):
b.append(struct.unpack('<i',intsPackedInString[4*i:4*(i+1)])[0])
return b |
def simxPackFloats(floatList):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
if sys.version_info[0] == 3:
s=bytes()
for i in range(len(floatList)):
s=s+struct.pack('<f',floatList[i])
s=bytearray(s)
else:
s='... |
def simxUnpackFloats(floatsPackedInString):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
b=[]
for i in range(int(len(floatsPackedInString)/4)):
b.append(struct.unpack('<f',floatsPackedInString[4*i:4*(i+1)])[0])
return b |
def setup(self):
""" Starts all the synchronization loops. """
[c.start() for c in self.controllers]
[c.wait_to_start() for c in self.controllers] |
def from_poppy_creature(cls, poppy, motors, passiv, tip,
reversed_motors=[]):
""" Creates an kinematic chain from motors of a Poppy Creature.
:param poppy: PoppyCreature used
:param list motors: list of all motors that composed the kinematic chain
... |
def end_effector(self):
""" Returns the cartesian position of the end of the chain (in meters). """
angles = self.convert_to_ik_angles(self.joints_position)
return self.forward_kinematics(angles)[:3, 3] |
def goto(self, position, duration, wait=False, accurate=False):
""" Goes to a given cartesian position.
:param list position: [x, y, z] representing the target position (in meters)
:param float duration: move duration
:param bool wait: whether to wait for the end of the move... |
def _goto(self, pose, duration, wait, accurate):
""" Goes to a given cartesian pose.
:param matrix pose: homogeneous matrix representing the target position
:param float duration: move duration
:param bool wait: whether to wait for the end of the move
:param bool... |
def convert_to_ik_angles(self, joints):
""" Convert from poppy representation to IKPY internal representation. """
if len(joints) != len(self.motors):
raise ValueError('Incompatible data, len(joints) should be {}!'.format(len(self.motors)))
raw_joints = [(j + m.offset) * (1 if m.dir... |
def convert_from_ik_angles(self, joints):
""" Convert from IKPY internal representation to poppy representation. """
if len(joints) != len(self.motors) + 2:
raise ValueError('Incompatible data, len(joints) should be {}!'.format(len(self.motors) + 2))
joints = [rad2deg(j) for j in jo... |
def factory_reset(self, ids, except_ids=False, except_baudrate_and_ids=False):
""" Reset all motors on the bus to their factory default settings. """
mode = (0x02 if except_baudrate_and_ids else
0x01 if except_ids else 0xFF)
for id in ids:
try:
self.... |
def start(self):
""" Start or restart (the :meth:`~pypot.primitive.primitive.Primitive.stop` method will automatically be called) the primitive. """
if not self.robot._primitive_manager.running:
raise RuntimeError('Cannot run a primitive when the sync is stopped!')
StoppableThread.s... |
def stop(self, wait=True):
""" Requests the primitive to stop. """
logger.info("Primitive %s stopped.", self)
StoppableThread.stop(self, wait) |
def get_mockup_motor(self, motor):
""" Gets the equivalent :class:`~pypot.primitive.primitive.MockupMotor`. """
return next((m for m in self.robot.motors if m.name == motor.name), None) |
def recent_update_frequencies(self):
""" Returns the 10 most recent update frequencies.
The given frequencies are computed as short-term frequencies!
The 0th element of the list corresponds to the most recent frequency.
"""
return list(reversed([(1.0 / p) for p in numpy.diff(sel... |
def goto_position(self, position, duration, control=None, wait=False):
""" Automatically sets the goal position and the moving speed to reach the desired position within the duration. """
if control is None:
control = self.goto_behavior
if control == 'minjerk':
goto_min... |
def save(self, file):
""" Saves the :class:`~pypot.primitive.move.Move` to a json file.
.. note:: The format used to store the :class:`~pypot.primitive.move.Move` is extremely verbose and should be obviously optimized for long moves.
"""
d = {
'framerate': self.framerate,
... |
def create(cls, d):
""" Create a :class:`~pypot.primitive.move.Move` from a dictionary. """
move = cls(d['framerate'])
move._timed_positions.update(d['positions'])
return move |
def load(cls, file):
""" Loads a :class:`~pypot.primitive.move.Move` from a json file. """
d = json.load(file)
return cls.create(d) |
def loads(cls, str):
""" Loads a :class:`~pypot.primitive.move.Move` from a json string. """
d = json.loads(str)
return cls.create(d) |
def add_tracked_motors(self, tracked_motors):
"""Add new motors to the recording"""
new_mockup_motors = map(self.get_mockup_motor, tracked_motors)
self.tracked_motors = list(set(self.tracked_motors + new_mockup_motors)) |
def update(self):
""" Combined at a predefined frequency the request orders and affect them to the real motors. """
with self.syncing:
for m in self._motors:
to_set = defaultdict(list)
for p in self._prim:
for key, val in getattr(p.robot, ... |
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