def set_joint_position(self,
position: float,
allow_force_mode=True) -> None:
"""Sets the intrinsic position of the joint.
:param positions: A list of positions of the joints (angular or linear
values depending on the joint type).
:param allow_force_mode: If True, then the position can be set even
when the joint mode is in Force mode. It will disable dynamics,
move the joint, and then re-enable dynamics.
"""
if not allow_force_mode:
vrep.simSetJointPosition(self._handle, position)
return
is_model = self.is_model()
if not is_model:
self.set_model(True)
prior = vrep.simGetModelProperty(self.get_handle())
p = prior | vrep.sim_modelproperty_not_dynamic
# Disable the dynamics
vrep.simSetModelProperty(self._handle, p)
vrep.simSetJointPosition(self._handle, position)
self.set_joint_target_position(position)
vrep.simExtStep(True) # Have to step once for changes to take effect
# Re-enable the dynamics
vrep.simSetModelProperty(self._handle, prior)
self.set_model(is_model)
def step(self) -> None:
"""Execute the next simulation step.
If the physics simulation is not running, then this will only update
the UI.
"""
with self._step_lock:
vrep.simExtStep()
def step_ui(self) -> None:
"""Update the UI.
This will not execute the next simulation step, even if the physics
simulation is running.
This is only applicable when PyRep was launched without a responsive UI.
"""
with self._step_lock:
vrep.simExtStep(False)
def _run_responsive_ui_thread(self) -> None:
while True:
if not self.running:
with self._step_lock:
if self._shutting_down or vrep.simExtGetExitRequest():
break
vrep.simExtStep(False)
time.sleep(0.01)
# If the exit request was from the UI, then call shutdown, otherwise
# shutdown caused this thread to terminate.
if not self._shutting_down:
self.shutdown()
def launch(self,
scene_file="",
headless=False,
responsive_ui=False,
blocking=False) -> None:
"""Launches V-REP.
Launches the UI thread, waits until the UI thread has finished, this
results in the current thread becoming the simulation thread.
:param scene_file: The scene file to load. Empty string for empty scene.
:param headless: Run V-REP in simulation mode.
:param responsive_ui: If True, then a separate thread will be created to
asynchronously step the UI of V-REP. Note, that will reduce
the responsiveness of the simulation thread.
:param blocking: Causes V-REP to launch as if running the default c++
client application. This is causes the function to block. For most
users, this will be set to False.
"""
if len(scene_file) > 0 and not os.path.isfile(
os.path.abspath(scene_file)):
raise PyRepError('Scene file does not exist: %s' % scene_file)
cwd = os.getcwd()
self._ui_thread = threading.Thread(target=self._run_ui_thread,
args=(scene_file, headless))
self._ui_thread.daemon = True
self._ui_thread.start()
while not vrep.simExtCanInitSimThread():
time.sleep(0.1)
vrep.simExtSimThreadInit()
time.sleep(0.2) # Stops V-REP crashing if it is restarted too quickly.
if blocking:
while not vrep.simExtGetExitRequest():
vrep.simExtStep()
self.shutdown()
elif responsive_ui:
self._responsive_ui_thread = threading.Thread(
target=self._run_responsive_ui_thread)
self._responsive_ui_thread.daemon = True
try:
self._responsive_ui_thread.start()
except (KeyboardInterrupt, SystemExit):
if not self._shutting_down:
self.shutdown()
sys.exit()
self.step()
else:
self.step()
os.chdir(cwd) # Go back to the previous cwd
def set_joint_positions(self,
positions: List[float],
allow_force_mode=True) -> None:
"""Sets the intrinsic position of the joints.
See :py:meth:`Joint.set_joint_position` for more information.
:param positions: A list of positions of the joints (angular or linear
values depending on the joint type).
:param allow_force_mode: If True, then the position can be set even
when the joint mode is in Force mode. It will disable dynamics,
move the joint, and then re-enable dynamics.
"""
self._assert_len(positions)
if not allow_force_mode:
[
j.set_joint_position(p, allow_force_mode)
for j, p in zip(self.joints, positions)
]
return
is_model = self.is_model()
if not is_model:
self.set_model(True)
prior = vrep.simGetModelProperty(self.get_handle())
p = prior | vrep.sim_modelproperty_not_dynamic
# Disable the dynamics
vrep.simSetModelProperty(self._handle, p)
[
j.set_joint_position(p, allow_force_mode)
for j, p in zip(self.joints, positions)
]
[
j.set_joint_target_position(p)
for j, p in zip(self.joints, positions)
]
vrep.simExtStep(True) # Have to step once for changes to take effect
# Re-enable the dynamics
vrep.simSetModelProperty(self._handle, prior)
self.set_model(is_model)
