def shuffle_obstacles(self): vrep.unwrap_vrep( vrep.simxCallScriptFunction(self._clientID, "Robobo_Scene_random", vrep.sim_scripttype_mainscript, "shuffle_obstacles", [],[],[],bytearray(),vrep.simx_opmode_blocking) ) return
def _vrep_set_joint_target_position(self, handle, position, opmode=vrep.simx_opmode_oneshot): return vrep.unwrap_vrep( vrep.simxSetJointTargetPosition(self._clientID, handle, position, opmode))
def _vrep_get_vision_sensor_image(self, camera_handle, opmode=vrep.simx_opmode_buffer, a=0): return vrep.unwrap_vrep( vrep.simxGetVisionSensorImage(self._clientID, camera_handle, a, opmode))
def collected_food(self): ints, floats, strings, buffer = vrep.unwrap_vrep( vrep.simxCallScriptFunction(self._clientID, "Food", vrep.sim_scripttype_childscript, "remote_get_collected_food", [], [], [], bytearray(), vrep.simx_opmode_blocking)) return ints[0]
def disconnect(self): vrep.unwrap_vrep(vrep.simxFinish(self._clientID))
def position(self): return vrep.unwrap_vrep( vrep.simxGetObjectPosition(self._clientID, self._Robobo, -1, vrep.simx_opmode_blocking))
def check_simulation_state(self): self.wait_for_ping() return vrep.unwrap_vrep(vrep.simxGetInMessageInfo( self._clientID, vrep.simx_headeroffset_server_state), ignore_novalue_error=True)
def stop_world(self): vrep.unwrap_vrep( vrep.simxStopSimulation(self._clientID, vrep.simx_opmode_blocking)) self.wait_for_ping()
def play_simulation(self): vrep.unwrap_vrep( vrep.simxStartSimulation(self._clientID, vrep.simx_opmode_blocking)) self.wait_for_ping()
def pause_simulation(self): vrep.unwrap_vrep( vrep.simxPauseSimulation(self._clientID, vrep.simx_opmode_blocking))
def _vrep_set_joint_target_velocity(self, handle, speed, opmode): return vrep.unwrap_vrep( vrep.simxSetJointTargetVelocity(self._clientID, handle, speed, opmode))
def _vrep_read_proximity_sensor(self, handle, opmode=vrep.simx_opmode_streaming): return vrep.unwrap_vrep( vrep.simxReadProximitySensor(self._clientID, handle, opmode))
def _vrep_get_object_handle(self, name, opmode): return vrep.unwrap_vrep( vrep.simxGetObjectHandle(self._clientID, name, opmode))
def _vrep_get_ping_time(self): return vrep.unwrap_vrep(vrep.simxGetPingTime(self._clientID))
def stop_world(self): vrep.unwrap_vrep( vrep.simxStopSimulation(self._clientID, vrep.simx_opmode_blocking) ) time.sleep(2)
def play_simulation(self): vrep.unwrap_vrep( vrep.simxStartSimulation(self._clientID, vrep.simx_opmode_blocking) ) time.sleep(1)