def get_collection_handle_by_name(self, collection_name: str) -> int:
"""Retrieves the integer handle for a given collection.
:param collection_name: Name of the collection to retrieve the integer handle for
:return: An integer handle for the collection
"""
return sim.simGetCollectionHandle(collection_name)
def __init__(self,
count: int,
name: str,
num_joints: int,
base_name: str = None,
max_velocity=1.0,
max_acceleration=4.0,
max_jerk=1000):
"""
Count is used for when we have multiple copies of arms
:param max_jerk: The second derivative of the velocity.
"""
joint_names = ['%s_joint%d' % (name, i + 1) for i in range(num_joints)]
super().__init__(count, name, joint_names, base_name)
# Used for movement
self.max_velocity = max_velocity
self.max_acceleration = max_acceleration
self.max_jerk = max_jerk
# handles
suffix = '' if count == 1 else '#%d' % (count - 2)
self._snake_head = Dummy('%s_head%s' % (name, suffix))
self._snake_tail = Dummy('%s_tail%s' % (name, suffix))
self._collision_collection = sim.simGetCollectionHandle(
'%s_collection%s' % (name, suffix))
def __init__(self, count: int, name: str, num_joints: int,
base_name: str = None,
max_velocity=1.0, max_acceleration=4.0, max_jerk=1000):
"""Count is used for when we have multiple copies of arms"""
joint_names = ['%s_joint%d' % (name, i+1) for i in range(num_joints)]
super().__init__(count, name, joint_names, base_name)
# Used for motion planning
self.max_velocity = max_velocity
self.max_acceleration = max_acceleration
self.max_jerk = max_jerk
# Motion planning handles
suffix = '' if count == 0 else '#%d' % (count - 1)
self._ik_target = Dummy('%s_target%s' % (name, suffix))
self._ik_tip = Dummy('%s_tip%s' % (name, suffix))
self._ik_group = sim.simGetIkGroupHandle('%s_ik%s' % (name, suffix))
self._collision_collection = sim.simGetCollectionHandle(
'%s_arm%s' % (name, suffix))
def __init__(self, count: int, num_wheels: int, name: str):
"""Count is used for when we have multiple copies of mobile bases.
:param count: used for multiple copies of robots
:param num_wheels: number of actuated wheels
:param name: string with robot name (same as base in vrep model).
"""
joint_names = [
'%s_m_joint%s' % (name, str(i + 1)) for i in range(num_wheels)
]
super().__init__(count, name, joint_names)
self.num_wheels = num_wheels
suffix = '' if count == 0 else '#%d' % (count - 1)
wheel_names = [
'%s_wheel%s%s' % (name, str(i + 1), suffix)
for i in range(self.num_wheels)
]
self.wheels = [Shape(name) for name in wheel_names]
# Motion planning handles
self.intermediate_target_base = Dummy('%s_intermediate_target_base%s' %
(name, suffix))
self.target_base = Dummy('%s_target_base%s' % (name, suffix))
self._collision_collection = sim.simGetCollectionHandle('%s_base%s' %
(name, suffix))
# Robot parameters and handle
self.z_pos = self.get_position()[2]
self.target_z = self.target_base.get_position()[-1]
self.wheel_radius = self.wheels[0].get_bounding_box()[5] # Z
self.wheel_distance = np.linalg.norm(
np.array(self.wheels[0].get_position()) -
np.array(self.wheels[1].get_position()))
# Make sure dummies are orphan if loaded with ttm
self.intermediate_target_base.set_parent(None)
self.target_base.set_parent(None)
