def go_to(self, angle):
"""Go to specified target angle.
Args:
angle (float): -90 - 90 degrees. 0 means facing forward. Negative numbers turn to the left.
"""
vrep.simxSetJointTargetPosition(self._clientID, self._joint,
math.radians(angle),
vrep.simx_opmode_oneshot_wait)
def go_to(self, joint, angle):
"""Go to specified target angle.
Args:
joint (int): number of joint to change (0 to 7)
angle (float): radians
"""
vrep.simxSetJointTargetPosition(self._clientID, self._joints[joint], angle,
vrep.simx_opmode_oneshot_wait)
def move_joint(self, num, value, render=False):
# in radian
code = vrep.simxSetJointTargetPosition(self.ID,
self.joint_handles[num],
value * math.pi / 180,
const_v.simx_opmode_blocking)
if render:
self.render()
def move_joint(self, num, value):
# in radian
code = vrep.simxSetJointTargetPosition(self.ID,
self.joint_handles[num],
value * math.pi / 180,
const_v.simx_opmode_blocking)
# print(code)
time.sleep(0.3)
def move_to_angle(self, shoulder_angle, femur_angle, tibia_angle):
"""
Moves V-REP legs with proper orientations to desired angles.
"""
vrep.simxSetJointTargetPosition(self.clientID, self.shoulderHandle,
shoulder_angle,
vrep.simx_opmode_oneshot)
vrep.simxSetJointTargetPosition(self.clientID, self.femurHandle,
femur_angle * self.yDirection,
vrep.simx_opmode_oneshot)
vrep.simxSetJointTargetPosition(self.clientID, self.tibiaHandle,
tibia_angle * self.yDirection,
vrep.simx_opmode_oneshot)
def set_joint_target_position(self, handle, pos):
status = vrep.simxSetJointTargetPosition(self.id, handle, pos,
vrep.simx_opmode_oneshot)
self.check_return_code(status, tolerance=vrep.simx_return_novalue_flag)
def set_target_position(self, target):
v.simxSetJointTargetPosition(self._id, self._handle, target,
self._def_op_mode)
