def set_vrep_force(robot, vector_force, shape_name):
""" Set a force to apply on Poppy Humanoid. """
vrep_io = next(c for c in robot._controllers if isinstance(c, VrepController)).io
raw_bytes = (ctypes.c_ubyte * len(shape_name)).from_buffer_copy(shape_name)
vrep_io.call_remote_api("simxSetStringSignal", "shape", raw_bytes, sending=True)
packedData = remote_api.simxPackFloats(vector_force)
raw_bytes = (ctypes.c_ubyte * len(packedData)).from_buffer_copy(packedData)
vrep_io.call_remote_api("simxSetStringSignal", "force", raw_bytes, sending=True)
def set_vrep_force(robot, vector_force, shape_name):
""" Set a force to apply on Poppy Humanoid. """
vrep_io = next(c for c in robot._controllers
if isinstance(c, VrepController)).io
raw_bytes = (ctypes.c_ubyte * len(shape_name)).from_buffer_copy(shape_name)
vrep_io.call_remote_api('simxSetStringSignal', 'shape',
raw_bytes, sending=True)
packedData = remote_api.simxPackFloats(vector_force)
raw_bytes = (ctypes.c_ubyte * len(packedData)).from_buffer_copy(packedData)
vrep_io.call_remote_api('simxSetStringSignal', 'force',
raw_bytes, sending=True)
def set_vrep_force(robot, vector_force, shape_name):
""" Set a force to apply on the robot. """
raw_bytes = (ctypes.c_ubyte *
len(shape_name)).from_buffer_copy(shape_name)
vrep_io.call_remote_api('simxSetStringSignal',
'shape',
raw_bytes,
sending=True)
packedData = remote_api.simxPackFloats(vector_force)
raw_bytes = (ctypes.c_ubyte *
len(packedData)).from_buffer_copy(packedData)
vrep_io.call_remote_api('simxSetStringSignal',
'force',
raw_bytes,
sending=True)