def shuffle_obstacles(self):
vrep.unwrap_vrep(
vrep.simxCallScriptFunction(self._clientID, "Robobo_Scene_random", vrep.sim_scripttype_mainscript, "shuffle_obstacles",
[],[],[],bytearray(),vrep.simx_opmode_blocking)
)
return
def _vrep_set_joint_target_position(self,
handle,
position,
opmode=vrep.simx_opmode_oneshot):
return vrep.unwrap_vrep(
vrep.simxSetJointTargetPosition(self._clientID, handle, position,
opmode))
def _vrep_get_vision_sensor_image(self,
camera_handle,
opmode=vrep.simx_opmode_buffer,
a=0):
return vrep.unwrap_vrep(
vrep.simxGetVisionSensorImage(self._clientID, camera_handle, a,
opmode))
def collected_food(self):
ints, floats, strings, buffer = vrep.unwrap_vrep(
vrep.simxCallScriptFunction(self._clientID, "Food",
vrep.sim_scripttype_childscript,
"remote_get_collected_food", [], [],
[], bytearray(),
vrep.simx_opmode_blocking))
return ints[0]
def disconnect(self):
vrep.unwrap_vrep(vrep.simxFinish(self._clientID))
def position(self):
return vrep.unwrap_vrep(
vrep.simxGetObjectPosition(self._clientID, self._Robobo, -1,
vrep.simx_opmode_blocking))
def check_simulation_state(self):
self.wait_for_ping()
return vrep.unwrap_vrep(vrep.simxGetInMessageInfo(
self._clientID, vrep.simx_headeroffset_server_state),
ignore_novalue_error=True)
def stop_world(self):
vrep.unwrap_vrep(
vrep.simxStopSimulation(self._clientID, vrep.simx_opmode_blocking))
self.wait_for_ping()
def play_simulation(self):
vrep.unwrap_vrep(
vrep.simxStartSimulation(self._clientID,
vrep.simx_opmode_blocking))
self.wait_for_ping()
def pause_simulation(self):
vrep.unwrap_vrep(
vrep.simxPauseSimulation(self._clientID,
vrep.simx_opmode_blocking))
def _vrep_set_joint_target_velocity(self, handle, speed, opmode):
return vrep.unwrap_vrep(
vrep.simxSetJointTargetVelocity(self._clientID, handle, speed,
opmode))
def _vrep_read_proximity_sensor(self,
handle,
opmode=vrep.simx_opmode_streaming):
return vrep.unwrap_vrep(
vrep.simxReadProximitySensor(self._clientID, handle, opmode))
def _vrep_get_object_handle(self, name, opmode):
return vrep.unwrap_vrep(
vrep.simxGetObjectHandle(self._clientID, name, opmode))
def _vrep_get_ping_time(self):
return vrep.unwrap_vrep(vrep.simxGetPingTime(self._clientID))
def stop_world(self):
vrep.unwrap_vrep(
vrep.simxStopSimulation(self._clientID, vrep.simx_opmode_blocking)
)
time.sleep(2)
def play_simulation(self):
vrep.unwrap_vrep(
vrep.simxStartSimulation(self._clientID, vrep.simx_opmode_blocking)
)
time.sleep(1)
