def _start_simulation(self):
"""Tells a VREP scene to start execution."""
if self.clientID is None:
raise Exception('Client is not connected to V-REP server and '
'cannot start the simulation. Check the sim is '
'running and try connecting again.')
r = vrep.simxStartSimulation(self.clientID, vrep.simx_opmode_blocking)
if r != vrep.simx_return_ok:
raise Exception('Unable to start simulation. Return code ', r)
vrep.simxSynchronous(self.clientID, False)
def execute_motion(self, vel_sets):
#vrep.simxPauseSimulation(self.CLIENT_ID,0)
vrep.simxSynchronous(self.CLIENT_ID, True)
vrep.simxStartSimulation(self.CLIENT_ID, vrep.simx_opmode_oneshot)
for dur, vels in vel_sets:
vrep.simxPauseCommunication(self.CLIENT_ID, 1)
for key in range(1, 19):
vrep.simxSetJointTargetVelocity(self.CLIENT_ID,
self.MOTOR_HANDLES[key],
vels[key],
vrep.simx_opmode_oneshot)
vrep.simxPauseCommunication(self.CLIENT_ID, 0)
time.sleep(dur)
vrep.simxSynchronousTrigger(self.CLIENT_ID)
vrep.simxPauseCommunication(self.CLIENT_ID, 1)
for key in range(1, 19):
vrep.simxSetJointTargetVelocity(self.CLIENT_ID,
self.MOTOR_HANDLES[key], 0,
vrep.simx_opmode_oneshot)
vrep.simxPauseCommunication(self.CLIENT_ID, 0)
vrep.simxSynchronousTrigger(self.CLIENT_ID)
def start_sim(clientID):
vrep.simxStartSimulation(clientID, vrep.simx_opmode_oneshot)
def start(self):
vrep.simxStartSimulation(self.clientID, vrep.simx_opmode_oneshot)