def target_velocity(self, velocity: Union[int, float]):
if self.target_velocity != velocity:
client().simxSetJointTargetVelocity(
self.handle, velocity,
client().simxDefaultPublisher())
self._target_velocity = velocity
def _change_motor_state(self, enabled: int):
client().simxSetObjectIntParameter(
self.handle,
sim.sim_jointintparam_motor_enabled,
enabled,
client().simxDefaultPublisher(),
)
def _change_control_loop_state(self, enabled: int):
client().simxSetObjectIntParameter(
self.handle,
sim.sim_jointintparam_ctrl_enabled,
enabled,
client().simxDefaultPublisher(),
)
def target_position(self, radian_angle: Union[int, float]):
if self.target_position != radian_angle:
client().simxSetJointTargetPosition(
self.handle,
radian_angle,
client().simxDefaultPublisher(),
)
self._target_position = radian_angle
def parent(self, parent_handle):
client().simxSetObjectParent(
self.handle,
parent_handle,
True,
False,
client().simxServiceCall(),
)
def name(self, name):
while True:
i = 0
try:
client().simxSetObjectName(self.handle, f'robot_{name}')
break
except RuntimeError:
name += f'#{i}'
i += 1
if i > 10:
raise
def check_mass(self):
mass = self.mass
min_, max_ = client().simxCallScriptFunction(
'getMassLimit@restrictions_funcs',
sim.sim_scripttype_customizationscript,
[],
client().simxServiceCall(),
)
if mass < min_ or mass > max_:
raise ValueError(
f'Робот не прошел проверку массы (масса: {mass}, пределы: [{min_}, {max_}])'
)
def __init__(self, joint_name: str):
"""
Обертка над объектом joint для упрощения базовых операций.
:param joint_name: имя joint'а (прямо из CoppeliaSim)
"""
super(Joint, self).__init__(joint_name)
self._target_velocity = client().simxGetJointTargetVelocity(
self.handle,
client().simxServiceCall())
self._target_position = client().simxGetJointTargetPosition(
self.handle,
client().simxServiceCall())
def loaded_robot(
model_path: str,
robot_name: str,
team_name: str,
ignore_restrictions: bool = False,
):
c = client()
positions = (
Position('player_1_pos'),
Position('player_2_pos'),
)
for position in positions:
if not position.busy:
target_position = position
break
else:
raise RuntimeError('No available positions')
robot = Robot(model_path)
try:
if not ignore_restrictions:
robot.check_size()
robot.check_mass()
robot.move_to_start_position(target_position)
robot.name = robot_name
robot.parent = target_position.handle
yield
finally:
c.simxRemoveObjects([robot.handle], 1, c.simxDefaultPublisher())
def __init__(self, model_path: str):
with open(model_path, 'rb') as file:
buffer = file.read()
self.handle = client().simxLoadModelFromBuffer(
buffer,
client().simxServiceCall())
self.shapes = client().simxGetObjectsInTree(
self.handle,
sim.sim_object_shape_type,
0,
client().simxServiceCall(),
)
# init objects tree
RobotObjectsTree(self.handle)
def move_to_start_position(self, position: Position):
c = client()
c.simxCallScriptFunction(
f'move_to_start_position@positions',
sim.sim_scripttype_customizationscript,
[self.handle, position.obj_name],
c.simxServiceCall(),
)
def children(self):
c = client()
handles = c.simxGetObjectsInTree(
self.handle,
sim.sim_handle_all,
# do not include base itself
1,
c.simxServiceCall(),
)
return {
c.simxGetObjectName(handle, False,
c.simxServiceCall()).decode('utf-8'): handle
for handle in handles
}
def check_size(self):
proper_bbox_size = client().simxCallScriptFunction(
'checkSize@restrictions_funcs',
sim.sim_scripttype_customizationscript,
[self.length, self.width, self.height],
client().simxServiceCall(),
)
if not proper_bbox_size:
limits = client().simxCallScriptFunction(
'getSizeLimits@restrictions_funcs',
sim.sim_scripttype_customizationscript,
[],
client().simxServiceCall(),
)
raise ValueError(
'Робот не прошел проверку размеров.\n'
f'Размер робота: {{\n'
f'\tlength: {self.length}, \n'
f'\twidth: {self.width}, \n'
f'\theight: {self.height}\n'
f'}}\n'
f'Границы размера: {json.dumps(limits, indent=4)}')
def __init__(self, robot_base_handle: int = None):
assert robot_base_handle is not None
c = client()
handles = c.simxGetObjectsInTree(
robot_base_handle,
sim.sim_handle_all,
# include base
0,
c.simxServiceCall(),
)
self.objects = {
c.simxGetObjectName(handle, False, c.simxServiceCall()).decode('utf-8'): handle
for handle in handles
}
def length(self):
return client().simxGetModelLength(self.handle,
client().simxServiceCall())
def target_position(self, position: Union[int, float]):
if self.target_position != position:
client().simxSetJointTargetPosition(
self.handle, position,
client().simxDefaultPublisher())
self._target_velocity = position
def height(self):
return client().simxGetModelHeight(self.handle,
client().simxServiceCall())
def mass(self):
c = client()
return sum(
c.simxExecuteScriptString(f'sim.getShapeMassAndInertia({shape})',
c.simxServiceCall())
for shape in self.shapes)
def __init__(self, pos_dummy_name: str):
c = client()
self.obj_name = pos_dummy_name
self.handle = c.simxGetObjectHandle(pos_dummy_name,
c.simxServiceCall())
def copy_object_orientation(self, object_handle):
c = client()
obj_orientation = c.simxGetObjectOrientation(object_handle, -1,
c.simxServiceCall())
c.simxSetObjectOrientation(self.handle, -1, obj_orientation,
c.simxServiceCall())
def width(self):
return client().simxGetModelWidth(self.handle,
client().simxServiceCall())
