def moveTo(self, dx, dy): self.position = [dx, dy] vrep.simxSetObjectPosition( self.clientID, self.handle, -1, #world coordinates [dx, dy, self.size[2] / 2], vrep.simx_opmode_oneshot)
def reset(self): self.task_part = 0 self.angles = self.init_angles for i in range(self.DoF): self.move_joint(i, self.angles[i]) vrep.simxSetObjectPosition(self.ID, self.cube_handle, -1, self.init_pose_cube, const_v.simx_opmode_oneshot_wait) vrep.simxSetObjectPosition(self.ID, self.goal_handle, -1, self.init_goal_pose, const_v.simx_opmode_oneshot_wait) img = self.get_image(self.cam_handle) return img
def reset(self): self.task_part = 0 self.angles = self.init_angles.copy() for i in range(self.DoF): self.move_joint(i, self.angles[i]) self.open_gripper() vrep.simxSetObjectPosition(self.ID, self.cube_handle, -1, self.init_pose_cube, const_v.simx_opmode_oneshot_wait) vrep.simxSetObjectPosition(self.ID, self.goal_handle, -1, self.init_goal_pose, const_v.simx_opmode_oneshot_wait) time.sleep(2) angles = self.get_angles() pose = self.get_position(self.tip_handle) sin_cos = [] for a in angles: sin_cos.append(np.sin(a)) sin_cos.append(np.cos(a)) s = np.concatenate([pose, sin_cos], axis=0) return s
def set_position(self, handle, pos, relative=False): relative_mode = vrep.sim_handle_parent if relative else -1 status = vrep.simxSetObjectPosition(self.id, handle, relative_mode, pos, vrep.simx_opmode_oneshot) self.check_return_code(status, tolerance=vrep.simx_return_novalue_flag)
def set_pose(self, position, yaw): vrep.simxSetObjectPosition(self._clientID, self._obj, -1, position, vrep.simx_opmode_oneshot_wait) vrep.simxSetObjectOrientation(self._clientID, self._obj, -1, (0, 0, yaw), vrep.simx_opmode_oneshot_wait)