def state(self, degrees=True):
"""Returns current state of the environment.
Argument:
degrees(keyword) -- flag that indicates if state's elements will be in degrees or radians
"""
_state = []
# Get motors' positions
for motor in self.robot['uarm'].motor_handlers:
err, joint_position = vrep.simxGetJointPosition(
self.conn_handler, motor, vrep.simx_opmode_streaming)
if err == vrep.simx_return_ok or err == vrep.simx_return_novalue_flag:
joint_position *= 180.0 / np.pi if degrees else 1
_state.append(round(joint_position, 4))
else:
print('Error getting joint positions, ERR:', err)
return -1
# Get gripper state
err, gripper_state = vrep.simxGetIntegerSignal(
self.conn_handler, self.robot['uarm'].gripper_handler,
vrep.simx_opmode_streaming)
if err == vrep.simx_return_ok or err == vrep.simx_return_novalue_flag:
_state.append(gripper_state)
else:
print('Error getting gripper state, ERR:', err)
_state.append(-1)
return _state
def get_joint_position_oneshot(clientID, handle):
mode = vrep.simx_opmode_oneshot
valid_response = False
while not valid_response:
response, position = vrep.simxGetJointPosition(clientID, handle, mode)
assert response == 0, "Cannot get joint position"
return position
def getPos(self):
angles = {}
for i in self.MOTOR_HANDLES.keys():
_, angle = vrep.simxGetJointPosition(self.CLIENT_ID,
self.MOTOR_HANDLES[i],
vrep.simx_opmode_oneshot_wait)
angles[i] = math.degrees(angle)
return angles
def getPos():
angles = []
for i in MOTOR_HANDLES.keys():
_, angle = vrep.simxGetJointPosition(CLIENT_ID, MOTOR_HANDLES[i],
vrep.simx_opmode_oneshot_wait)
angles.append(math.degrees(angle))
print angles
return Motion(1, " ".join(map(str, angles)), 0)
def get_joint_position(clientID, handle):
is_request_initial = handle not in STREAMING_HANDLES_JOINT_POSITION
mode = vrep.simx_opmode_streaming if is_request_initial else vrep.simx_opmode_buffer
valid_response = False
while not valid_response:
response, position = vrep.simxGetJointPosition(clientID, handle, mode)
valid_response = response == 0
if is_request_initial:
STREAMING_HANDLES_JOINT_POSITION.add(handle)
return position
def getPos():
angles = []
for i in MOTOR_HANDLES.keys():
_,angle = vrep.simxGetJointPosition(CLIENT_ID,MOTOR_HANDLES[i],vrep.simx_opmode_oneshot_wait)
angles.append(math.degrees(angle))
return angles