def get_vison_sensor_handle(client_ID, vision_tag):
return_code, handle = vrep.simxGetObjectHandle(client_ID, vision_tag,
vrep.simx_opmode_oneshot_wait)
if check_return_code(return_code, "get_object_handle"):
return handle
sys.exit()
def get_object_handle(client_ID, component_tag):
return_code, handle = vrep.simxGetObjectHandle(client_ID, component_tag,
vrep.simx_opmode_blocking)
if check_return_code(return_code, "get_object_handle"):
return handle
sys.exit()
def get_orientation(client_ID, handle):
return_code, orientation = vrep.simxGetObjectOrientation(client_ID, handle,
-1, simx_opmode_blocking)
if check_return_code(return_code, "get_orientation"):
return orientation
sys.exit()
def retrive_img_from_vision_senzor(vision_sensor_name, client_ID):
return_code, vision_sensor_handle = vrep.simxGetObjectHandle(
client_ID, vision_sensor_name, vrep.simx_opmode_oneshot_wait)
if not check_return_code(return_code, "get_object_handle"):
sys.exit()
return_code, resolution, sensor_img = vrep.simxGetVisionSensorImage(
client_ID, vision_sensor_handle, 0, vrep.simx_opmode_streaming)
time.sleep(1) #mandatory sleep, WON'T WORK without it
return_code, resolution, sensor_img = vrep.simxGetVisionSensorImage(
client_ID, vision_sensor_handle, 0, vrep.simx_opmode_buffer)
image_byte_array = array.array('b', sensor_img)
img = pil_image.frombuffer("RGB", (resolution[0], resolution[1]),
image_byte_array, "raw", "RGB", 0, 1)
return img
def stop_simulation(client_ID):
return_code = vrep.simxStopSimulation(client_ID, simx_opmode_blocking)
if not check_return_code(return_code, "simxStartSimulation"):
sys.exit()