def set_revolute_joints(self, desired_pos):
assert len(desired_pos) == 3, "Invalid number of desired pos."
vrep.simxPauseCommunication(self.client_id, 1)
for j in range(len(desired_pos)):
vrep.simxSetJointTargetPosition(self.client_id,
self.handles_dict["joint"][3 + j],
desired_pos[j],
vrep.simx_opmode_oneshot)
# unpause simulation
vrep.simxPauseCommunication(self.client_id, 0)
def set_all_joint_positions(self, desired_pos):
assert len(desired_pos) == len(self.handles_dict["joint"])
# pause simulation
vrep.simxPauseCommunication(self.client_id, 1)
for j in range(len(desired_pos)):
vrep.simxSetJointTargetPosition(self.client_id,
self.handles_dict["joint"][j],
desired_pos[j],
vrep.simx_opmode_oneshot)
# unpause simulation
vrep.simxPauseCommunication(self.client_id, 0)
def set_motors(self, position, degrees=False):
""" Set values of the UARM\'s motors.
Arguments:
positions - list containing angular positions for all motors:
positions = [joint_val_1, ..., joint_val_4]
degrees -- if given positions are in degress (True) or radians (False)
"""
# Recalculate into radians if positions are in degrees
if degrees:
coeff = np.pi / 180
position = [pos * coeff for pos in position]
vrep.simxPauseCommunication(self.conn_handler, True)
errors = []
for i in range(0, self.motors_number):
code = vrep.simxSetJointTargetPosition(self.conn_handler,
self.motor_handlers[i],
position[i],
vrep.simx_opmode_oneshot)
errors.append(code)
vrep.simxPauseCommunication(self.conn_handler, False)
def execute_motion(self, vel_sets):
#vrep.simxPauseSimulation(self.CLIENT_ID,0)
vrep.simxSynchronous(self.CLIENT_ID, True)
vrep.simxStartSimulation(self.CLIENT_ID, vrep.simx_opmode_oneshot)
for dur, vels in vel_sets:
vrep.simxPauseCommunication(self.CLIENT_ID, 1)
for key in range(1, 19):
vrep.simxSetJointTargetVelocity(self.CLIENT_ID,
self.MOTOR_HANDLES[key],
vels[key],
vrep.simx_opmode_oneshot)
vrep.simxPauseCommunication(self.CLIENT_ID, 0)
time.sleep(dur)
vrep.simxSynchronousTrigger(self.CLIENT_ID)
vrep.simxPauseCommunication(self.CLIENT_ID, 1)
for key in range(1, 19):
vrep.simxSetJointTargetVelocity(self.CLIENT_ID,
self.MOTOR_HANDLES[key], 0,
vrep.simx_opmode_oneshot)
vrep.simxPauseCommunication(self.CLIENT_ID, 0)
vrep.simxSynchronousTrigger(self.CLIENT_ID)